Trajectory Identification Using Kinematic Analysis of a 5-DOF Passive Robot Arm with MATLAB Simulation Validation

Trajectory Identification Using Kinematic Analysis of a 5-DOF Passive Robot Arm with MATLAB Simulation Validation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Trajectory Identification Using Kinematic Analysis of a 5-DOF Passive Robot Arm with MATLAB Simulation Validation Roshan Thilakarathna, Tharindu Nadeesha This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6835001/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Robotic technologies may improve productivity while reducing musculoskeletal disorders for employees in physically strenuous industrial activities, such as grinding. The automation of industrial processes still faces enduring challenges, yet contemporary manipulators can cope with and execute sophisticated tasks under different performing conditions. This research seeks to create a passive industrial robotic arm that will minimize muscle vibrations caused by repetitive movements during a grinding procedure. This work encompasses the complete forward and inverse kinematics of a 5-degree-of-freedom (DOF) robotic arm constructed with a particular trajectory in mind, emphasizing workspace evaluation and trajectory planning.In robotic motion analysis, kinematics, which characterizes motion without taking into account the forces causing it, is essential. In order to determine the end-effector's position and orientation and enable multifunctional robotic applications, both forward and inverse kinematics are necessary. A mathematical model for forward kinematics was developed using the conventional Denavit-Hartenberg (D-H) convention, which predicted and simulated the position and orientation of the end-effector. To identify the necessary joint variables, inverse kinematics solutions were obtained by combining algebraic and geometric methods.The kinematics were validated and analyzed through MATLAB with the Peter Corke Robotics Toolbox, while the robotic arm was designed and simulated on SOLIDWORKS. As part of the robotic arm system performance assessment, several simulations and experiments were conducted, including but not limited to workspace analysis, joint trajectory planning, tool-path generation, and end-effector tracking. It was shown with results that random sampling approaches to high-dimensional kinematic problem spaces, visual representations of the workspaces for the manipulators, are intuitive. This proves the robotic arm's ability to reach designated points with sufficient precision, flexibility, and spatial coverage, confirming its operational feasibility for complex tasks in an industrial environment. Robotic Arm Forward Kinematics Inverse Kinematics Denavit-Harbenterg (D-H) MATLAB Trajectory Workspace Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6835001","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":484664843,"identity":"d666500f-dfb9-4a63-ab57-856fa3bda117","order_by":0,"name":"Roshan Thilakarathna","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAyElEQVRIiWNgGAWjYHACNhAhx8DAA+bJSBCpxcAYpoWHaC2JDURrMW9vf/bg544/6Rtu5B5g+FHDwCPZQECLzJkz5oa9ZwxyN9zIS2DsOcbAI03IFgmJHDYJ3jaD3G03cgwYeIHOkyOsJf2Z5N82g3QzoBbGv8RpSTCTBtqSANLCDLKFsMN4zphJy7YZG+4/8y7hsMwxCcLel2Bvfyb5tk1OXrI99+DDNzU2chIHCFkDBwIJDEDFxEQkHPATb/ooGAWjYBSMMAAAR843fuCIU84AAAAASUVORK5CYII=","orcid":"","institution":"Wayamba University of Sri Lanka","correspondingAuthor":true,"prefix":"","firstName":"Roshan","middleName":"","lastName":"Thilakarathna","suffix":""},{"id":484664845,"identity":"8cf09f92-8bf5-4aa9-8132-e70bcd241d6f","order_by":1,"name":"Tharindu Nadeesha","email":"","orcid":"","institution":"Wayamba University of Sri Lanka","correspondingAuthor":false,"prefix":"","firstName":"Tharindu","middleName":"","lastName":"Nadeesha","suffix":""}],"badges":[],"createdAt":"2025-06-06 08:08:30","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6835001/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6835001/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":92572093,"identity":"e5073a8c-67e2-47fc-a4a7-0a136966ee5c","added_by":"auto","created_at":"2025-10-01 07:54:33","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":4446271,"visible":true,"origin":"","legend":"","description":"","filename":"ManuscriptV4.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6835001/v1_covered_f8d1dec2-a8c7-41e2-ae94-56adf3cb030f.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Trajectory Identification Using Kinematic Analysis of a 5-DOF Passive Robot Arm with MATLAB Simulation Validation","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Robotic Arm, Forward Kinematics, Inverse Kinematics, Denavit-Harbenterg (D-H), MATLAB, Trajectory, Workspace","lastPublishedDoi":"10.21203/rs.3.rs-6835001/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6835001/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eRobotic technologies may improve productivity while reducing musculoskeletal disorders for employees in physically strenuous industrial activities, such as grinding. 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