Forward and Inverse Kinematics Models for a 5-dof Pioneer 2 Robot Arm

Abstract

Manipulator control is one of the main research areas in robotics, requiring in the first instance the manipulator model. Using the Denavit-Hartenberg methodology this paper develops both forward and inverse kinematics models for a 5-dof Pioneer 2 robot arm. This paper also includes background information about robot arms, especially the Pioneer 2 robot arm, and discusses some implementation issues.