Efficient Kinematic Modeling, Simulation and Control of a 6-DOF Robotic Arm

Abstract

This paper focuses on the modeling, simulation and optimization of a six-degree-of-freedom (6DOF) robotic arm designed for industrial applications such as assembly, material handling and precision machiing. The study utilizes the Denavit-Hartenberg (DH) parameterization for kinematic modeling. The robot, a Dobot CR5 is modeled in SolidWorks and integrated into MATLAB/Simulink for trajectory optimization using PID controllers. Simulation results demonstrate significant improvements in trajectory accuracy and motion smoothness, validating the proposed optimization approach. This work contributes to advanced control strategies for industrial robotic systems.