Ricardo Luiz Ciucio, Vando José da Silva
The accelerated growth of technology has allowed the development of more complex electromechanical structures specific to industrial demands. This work aims to present a detailed study of direct kinematics, analyzing the behavior of position and orientation of industrial robotic manipulators in Cartesian space relative to a coordinate system. The methodology utilized in this exploratory research involves experimental tests, literature review, and a case study conducted at the Advanced Robotics Institute (IAR). The robot studied is the YASKAWA-MOTOMAN-GP7 from the IAR Robotics laboratory. The research significantly contributes to analyzing and validating Denavit-Hartenberg notation. Results demonstrate the derivation of direct kinematics equations, utilizing matrix equations developed in MATLAB® software, which effectively verify the proposed mathematical model applicable to all industrial robots.
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title={eversvd,+4 (8)},
author={Ricardo Luiz Ciucio and Vando José da Silva},
year={2026},
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