ANALYTICAL FORWARD KINEMATICS MODELING OF A FLOOR-BASED 5-DOF INDUSTRIAL ROBOT USING THE DENAVIT-HARTENBERG METHOD

О. О. Баранов, А. С. Сорока, А. О. Бреус

Abstract


This paper presents an analytical solution to the forward kinematics problem for a floor-based industrial robot manipulator with five degrees of freedom, intended for performing precise manufacturing operations such as positioning, assembly, transportation, and part processing. The robot’s kinematic structure includes two translational and three rotational coordinates, providing a wide range of end-effector motion in space. To develop the mathematical model, the classical Denavit-Hartenberg (D-H) method was used, allowing for a formalized description of the manipulator’s kinematic chain through successive homogeneous transformations between local coordinate systems. During the modeling process, coordinate systems were sequentially established for each link of the mechanism, a table of D-H parameters was constructed, and the corresponding transformation matrices were calculated. Based on this data, a general transformation matrix was obtained, describing the position and orientation of the end-effector in the base coordinate frame. Additionally, simulation modeling of the manipulator’s motion was carried out with specified changes in joint angles and linear displacements over time. Graphs of the end-effector’s position and orientation were generated, confirming the correctness and internal consistency of the model. The obtained results form a basis for further studies in inverse kinematics, trajectory control, digital twin development, and integration into CAD/CAE environments. The proposed approach is effective for industrial applications that require high precision, repeatability, and flexibility under modern manufacturing conditions. The resulting kinematic model is universal and can be adapted to various configurations of floor-based manipulators used in production systems with stringent positioning accuracy requirements. Thanks to its modular structure, it is suitable for further integration into robotic platforms, digital environments, and virtual testing systems. In particular, it can be used for trajectory training, configuration optimization, or preliminary validation of control algorithms. This approach significantly reduces the need for physical testing and accelerates the design cycle of new robotic solutions, which is especially relevant in the context of Industry 4.0 and flexible manufacturing paradigms.


Keywords


floor-based robot manipulator, forward kinematics, Denavit-Hartenberg method, modeling

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DOI: https://doi.org/10.32620/oikit.2025.104.07

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