A Full Analytical Solution to the Direct and Inverse Kinematics of the Pentaxis Robot Manipulator

Resumen

In this paper, the kinematics of a 5-DOF robot manipulator was obtained. The direct kinematics was presented using the Denavit-Hartenberg convention and method. The inverse kinematics was obtained analytically and all possible solutions were found for each joint. The kinematic solution was verified experimentally by programming a kinematic solver for the MoveIt! ROSr platform.