Kinematic and Dynamic Modeling of a Robotic Arm

For Industrial ApplicationsThis study focuses on developing accurate kinematic and dynamic models of a robotic arm to enhance its performance in industrial settings. Kinematic modeling involves defining the motion of the robotic arm's joints and end-effector without considering forces using techniques like Denavit-Hartenberg parameters for forward and inverse kinematics. Dynamic modeling incorporates forces and torques acting on the arm applying Newton-Euler or Lagrangian methods to optimize performance under varying loads. These models enable precise motion planning control and efficiency in tasks such as assembly welding and material handling ensuring reliability and adaptability in industrial automation.