International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056 Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 1459 Forward and Inverse Kinematic Analysis of Robotic Manipulators Tarun Pratap Singh 1 , Dr. P. Suresh 2 , Dr. Swet Chandan 3 1 M.TECH Scholar, School Of Mechanical Engineering, GALGOTIAS UNIVERSITY, GREATER NOIDA, U.P. INDIA 2,3 Asociate Professor, School Of Mechanical Engineering, GALGOTIAS UNIVERSITY, GREATER NOIDA, U.P. INDIA ---------------------------------------------------------------------***--------------------------------------------------------------------- Abstract - Today every small and large industry use the robotic manipulator to complete the various task like as picking and placing, welding process, painting and material handling but to complete these task one of the most important problem is to get the desire position and orientation of the robotic manipulators. There are two method for analyzing the robotic manipulator one is forward kinematic analysis and another is inverse kinematic analysis. This project aim to model the forward and inverse kinematic of 5 DOF and 6 DOF robotic manipulator. A movement flow planning is designed and further evaluate all the DH parameter to calculate the desire position and orientation of the end effector. Forward kinematics is simple to design but for inverse kinematic solution traditional method (iterative, DH notation, transformation) are used. And compare the result with analytical solution and see there are acceptable error. A FK and IK solution of aspect robotic manipulator are successfully modeled. Key Words: Forward and inverse kinematics, DOF (degree of freedom), transformation, DH convention, Robotic Arm. 1. INTRODUCTION Robot is a machine that collects the information about the environment using some sensors and makes a decision automatically. Today robot are used in various field like as medical, industry, military operation, in space and some dangerous place. Where human donǯt want to work. But the controlling of robot manipulator has been challenges with higher DOF. Position and orientation analysis of robotic manipulator is an essential step to design and control. In this paper a basic introduction of the position and orientation analysis of a serial manipulator is given. A robot manipulator consist set of links connected together this either serial or parallel manner. The FK analysis is simple to analysis of model and calculate the position using the joint angle. But the challenge in to analyze the IK solution using the position. Complexity of the IK increases with increase the DOF.so to analyze IK in this Paper use the DH convention and transformation type solution. 1.1 Kinematics Kinematics is the branch of mechanics that deals with the motion of the bodies and system without considering the force. And the robot kinematics applies geometry to the study movement of multi DOF kinematic chains that form the structure of robot manipulator [1].