D-H Parameters and Forward Kinematics Solution for 6D of Surgical Robot

Abstract

Since 1985 when the first appear of robots in surgery field, the interest and the amount of research in surgical robots have been increase significantly. We study in this paper the kinematics of a 6dof surgical robot by determining Denavit-Hartenberg parameters using simple approach supported by robotic toolbox. We describe in details the forward kinematics using the D-H parameters, the successful build of the robot was verified by plotting 3D model for the robot in two positions.