Forward and inverse robot model kinematics and trajectory planning

The presented paper is dedicated to kinematic analysis of open kinematic chains. The aim of the kinematic analysis is to investigate the dependence of the coordinates of driven kinematic pairs on the coordinates of the system, to determine the respective speeds and accelerations and to investigate the movement of its important points and members. The movement of the point of the end member of the multi-member manipulator model is monitored by matrix method. Attention is paid to the kinematic and dynamic analysis of the manipulator and the modeling of end member motion control. Matlab/Simulink and MSC Adams/View are used for computer simulations. In the end, the results obtained by computer simulation of the assembled model are evaluated.