Development of forward kinematics and construction of the driving and command system of a robotic manipulator


The idea of ​​working with a robotic manipulator came from the availability of doing a retrofit of the drive and command system for the RD5 robot, a manipulator that is part of the IFCE's Energy Processing Laboratory. The challenges of working with this robot is the fact this manipulator has not been used for some time, needing adjustments such as tightening its joints, redo connections and add potentiometers instead of damaged ones. The objectives of this work are the development of forward kinematics (FK) and the construction of its drive and command system. The expected positions are obtained from FK using the Denavit-Hatenberg (DH) method. The expected positioning of the manipulator in each situation was compared with that obtained through the drive and command system and thus it was possible to perform the acquisition of position error estimation data. The results were then discussed.


Gao, G., Sun, G., Na, J., Guo, Y., & Wu, X. (2018). Structural parameter identification for 6 DOF industrial robots. Mechanical Systems and Signal Processing, 113, 145–155. doi:10.1016/j.ymssp.2017.08.011.
Ge, W., Chen, L., Wang, X., Xing, E., & Zielinska, T. (2019). Kinematics Modeling and Analysis of Manipulator Using the Dual Quaternion. 2019 IEEE International Conference on Mechatronics and Automation (ICMA). doi:10.1109/icma.2019.8816603.
Honorio, Alexis Alves. Projeto e implementação de reforma e atualização (Retrofit) de sistema de comando e controle de braço robótico manipulador didático. Completion of course work - IFCE, Fortaleza, 2016.
Iliukhin, V. N., Mitkovskii, K. B., Bizyanova, D. A., & Akopyan, A. A. (2017). The Modeling of Inverse Kinematics for 5 DOF Manipulator. Procedia Engineering, 176, 498–505. doi:10.1016/j.proeng.2017.02.349.
Jamwal, P. K., Xie, S. Q., Tsoi, Y. H., & Aw, K. C. (2010). Forward kinematics modelling of a parallel ankle rehabilitation robot using modified fuzzy inference. Mechanism and Machine Theory, 45(11), 1537–1554. doi:10.1016/j.mechmachtheory.2010.06.017.
K. Lee, P. Chiang and H. Truong, "The forward kinematics for the HR1-NFU humanoid robot," 2018 IEEE International Conference on Advanced Manufacturing (ICAM), Yunlin, 2018, pp. 455-458.
Liu, F., Gao, G., Shi, L., & Lv, Y. (2017). Kinematic analysis and simulation of a 3-DOF robotic manipulator. 2017 3rd International Conference on Computational Intelligence & Communication Technology (CICT). doi:10.1109/ciact.2017.7977291.
Mahmoodabadi, Mohammad Javad, and A. Ziaei. "Inverse dynamics based optimal fuzzy controller for a robot manipulator via particle swarm optimization." Journal of Robotics 2019 (2019).
Mittal, R. K. Robotics and Control. New Delhi: Tata McGraw-Hill, 2003.
Niku, Saeed Benjamin. Introdução à robótica: Análise, Controle e Aplicações. Rio de Janeiro: LTC, 2013.
Ogata, Katsuhiko. Engenharia de Controle Moderno. São Paulo: Pearson Prentice Hall, 2010.
Rosário, João Maurício. Princípios de Mecatrônica. São Paulo: Pearson Prentice Hall, 2005.
Santos, V. M. F. Robótica Industrial. Departamento de Engenharia Mecânica, Universidade de Aveiro, 2004. Available in: . Access in January 2018.
Spong, Mark W.; HUTCHINSON S.; VIDYASAGAR M. Robot Dynamics and Control. 2. ed. 2004.
How to Cite
MENDES, Odilon Linhares Carvalho; OLIVEIRA, Rogério da Silva. Development of forward kinematics and construction of the driving and command system of a robotic manipulator. Journal of Mechatronics Engineering, [S.l.], v. 3, n. 1, p. 9 - 18, may 2020. ISSN 2595-3230. Available at: <>. Date accessed: 25 nov. 2020. doi: