inverse and direct kinematic of a 4-dof robot arm

This repository contains MATLAB scripts for solving the forward and inverse kinematics of a robotic arm using Denavit-Hartenberg (DH) parameters.

The image represent four links starting with the base link in Red to the end effector in Cyan, and also a projection point on the 2D plane.

Files

• MGD_MGI.m: Main script to calculate the forward and inverse kinematics.
• DHmethod.m: Function to create the DH transformation matrix for each joint.

Usage

1. Clone the repository:

   git clone https://github.com/ChehabiMed/inverse-kinematic-4-dof-robot-arm.git
   cd inverse-kinematic-4-dof-robot-arm

2. Open MATLAB and navigate to the repository directory.

3. Ensure both MGD_MGI.m and DHmethod.m are in the same directory.

4. Run the MGD_MGI.m script to calculate the forward and inverse kinematics.

MGD_MGI.m

This script performs the following tasks:

1. Initialization:

   • Clears previous variables.
   • Defines the lengths of the arm segments and the target end-effector position.

2. Symbolic Variables:

   • Defines the symbolic variables for the DH parameters.

3. Forward Kinematics:

   • Computes the DH transformation matrices for each joint.
   • Multiplies the matrices to get the overall transformation matrix from the base to the end-effector.

4. Inverse Kinematics:

   • Computes the joint angles required to reach the target end-effector position using inverse kinematics.

5. Visualization:

   • Plots the robotic arm in 3D space.

DHmethod.m

This function creates the DH transformation matrix for a given joint. It takes the following parameters:

• a: Link length.
• alpha: Link twist.
• d: Link offset.
• theta: Joint angle.

The function returns the 4x4 DH transformation matrix.

To see the robotic arm in action, run the MGD_MGI.m script. The script will output the transformation matrix and plot the arm in 3D space.