Implementation and Derivation Kinematics Modeling Analysis of WidowX 250 6Degreef of Freedom Robotic Arm

Many industries use robotic arms to perform tasks like picking and placing. The main goal of this paper is to derive and implement the forward and inverse kinematics of a 6-degree-of-freedom articulated robotic arm. In addition, a closed-form solution is required to design the inverse kinematics, un...

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Bibliographic Details
Published inJournal of engineering and sustainable development (Online) Vol. 29; no. 4; pp. 473 - 484
Main Authors Obied, Hasan, Al-Taleb, Manaf K. H., Khaleel, Hind Z., AbdulKareem, Ali F.
Format Journal Article
LanguageEnglish
Published Mustansiriyah University/College of Engineering 01.07.2025
Subjects
End Effector
Forward Kinematics
Inverse Kinematics
Robotic Operation System
WidowX 250
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Summary:Many industries use robotic arms to perform tasks like picking and placing. The main goal of this paper is to derive and implement the forward and inverse kinematics of a 6-degree-of-freedom articulated robotic arm. In addition, a closed-form solution is required to design the inverse kinematics, unlike the forward kinematics. Then, the inverse kinematics and forward kinematics modeling were successfully performed on the WidowX 250 6-degree-of-freedom robotic arm. The MATLAB modeling results are compared to the ROS results, which showed a matching percentage of 99%. In addition, the inverse kinematics results revealed a range of solutions that are approximately identified to the desired results, while others were not, such as the value of the third joint angle is obtained at ±1.57 radians. Finally, due to the accuracy value of this comparative work between real ROS and MATLAB derived equations of the WidowX 250 6DOF robot arm, it is concluded that the joints and coordinates of this robot are identified.
ISSN:2520-0917
2520-0925
DOI:10.31272/jeasd.2454