Kinematic Analysis of a Four-Degree-of-Freedom Manipulator


Article Preview

The paper deals with the kinematics problem of a four-degree-of-freedom manipulator and derives equations for forward and inverse kinematics. A simulation model has been created applying SolidWorks program. On the basis of modelling, a real object used for experimental research has been built. Numerical, analytical and experimental results have been compared.



Solid State Phenomena (Volumes 220-221)

Edited by:

Algirdas V. Valiulis, Olegas Černašėjus and Vadim Mokšin




A. Skalik et al., "Kinematic Analysis of a Four-Degree-of-Freedom Manipulator", Solid State Phenomena, Vols. 220-221, pp. 277-282, 2015

Online since:

January 2015




* - Corresponding Author

[1] T. Uhl, T. Bojko, Z. Mrozek, M. Petko, W. Szwabowski, Z. Korendo, M. Bogacz, Wybrane problemy projektowania mechatronicznego, Wydawnictwo Katedry Robotyki i Dynamiki Maszyn, AGH, Kraków, (1999).

[2] A. Paczynski, P. Warys, Visualisation and diagnostic of the mechatronical system of the robot in the real time, Górnictwo Odkrywkowe 51(3) (2010) 266–269.

[3] L. Seybold, M. Stania, A. Paczynski, R. Stetter, Intelligent actuators for the future of individual mobility, in: 7th Workshop on Advanced Control and Diagnosis ZielonaGóra, (2009).

[4] T. Buratowski, Teoria robotyki, Wydawnictwo AGH, Kraków, (2012).

[5] F. Golnaraghi, B.C. Kuo, Automatic Control Systems, John Wiley& Sons Inc., (2010).

[6] M. Lombard, SolidWorks 2010 Bible, Wiley Publishing Inc. Indianapolis, Indiana, (2010).

[7] D. Skrobek, Projekt manipulatora o czterech stopniach swobody: Bachelor's dissertation, (2013).

[8] M. Stania, R. Stetter, Dynamic modelling using SimMechanics on the example of an Industrial Robot, in: International Conference on control systems and computer science, CSCS 17, Bucharest, Romania, (2009).