Kinematic and Velocity Modeling of Serial Manipulators

This study explores the kinematic modeling of robotic serial manipulators. It covers forward and inverse kinematics and introduces the Denavit–Hartenberg convention for 3D manipulators, along with loop closure equations. The work further examines velocity and inverse velocity kinematics and employs interpolation techniques for smooth trajectory planning. A modeling framework for typical serial robots is presented, with simulations validating the influence of joint configurations and actuator dynamics on performance. Finally, the study discusses current applications and practical uses of these modeling techniques.