Kinematics Analysis and Simulation of a 4-DOF Manipulator
Detailed analysis is given to kinematics of a 4-DOF manipulator. Forward and inverse kinematics of the manipulator is performed through Denevit and Hartenberg method. Kinematics equations are obtained, whereupon mathematic formulas are provided for the manipulator control. The effectiveness of kinematics equations is verified by the Robotics Toolbox simulation of the Matlab.
Y. J. Cui and J. N. Hua, "Kinematics Analysis and Simulation of a 4-DOF Manipulator", Applied Mechanics and Materials, Vols. 44-47, pp. 656-660, 2011