Forward kinematic modeling and analysis of 6-DOF underwater manipulator

Sometime a system is expressed more clearly and elegantly with an analytical model. For robotic manipulator the analysis consists of its kinematic modeling and its validation. This paper describes the forward kinematic model of a 6-DOF underwater manipulator and analyzes its end-effector motion through joint space. The manipulator is specifically designed for underwater operation of a water pool. The manipulator is accurately described by obtaining the link transformation matrices from each joint using the Denavit-Hartenberg (D-H) notations. Forward kinematic model is developed in MATLAB. The mathematical model of forward kinematics has been validated using Robotics Toolbox. The manipulator forward kinematics model is also simulated in the Robotics toolbox. The method used in this work may also be applicable to solve the forward kinematics problem of other similar kinds of robotic manipulators.