The main objective of the proposed research is to streamline the process of determining the motion and positioning of robotic systems. The paper presents a comprehensive analysis of the approach employed for conducting robot kinematics on a customized serial robotic arm with multiple degrees of freedom. The present study encompasses the examination of forward and inverse kinematics, singularity testing, and work-space analysis. In this study, we examine a specific instance of a 3D printed robotic arm with six degrees of freedom (6 DoF) designed to assist elderly individuals in their regular meal consumption. In the present study, the forward kinematics is conducted utilizing a 3D printed specially developed teach-pendant and the product of exponential method, as opposed to the conventional approach of employing complex Denavit-Hartenberg (DH) parameters. Additionally, the inverse kinematics is achieved through the derivative-based Newton-Raphson method, rather than the conventional analytical method. The singularity is determined at each intermediate point by employing the Jacobian approach in the Cartesian space. In this study, an analytical approach is employed to conduct a workspace analysis in the XYZ Cartesian space. The primary objective is to verify the presence of singularities at each IP. In summary, the current work presents a streamlined approach for implementing robot kinematics on a serial manipulator with multiple degrees of freedom.
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