Mathematical model of a four-degree-of-freedom robot

In this book, the kinematic and dynamic modelling of a four-degree-of-freedom robotic arm is carried out. These models are essential both in the mechanical design phase and in the controller design phase for a robotic manipulator. In order to achieve the objectives of this work, a bibliographic review of the evolution of industrial robotics and of the existing modelling techniques was carried out. Among the procedures used, the Denavit and Hartenberg methodology, the use of homogeneous transformation matrices and the Euler-Lagrange method stand out.The result of this thesis includes the design and implementation of an experimental validation platform that incorporates a prototype loading and unloading robotic arm. The platform allows the manipulator to be remotely controlled by means of a high-level program installed on a computer and facilitates the verification of kinematic models and the execution of experiments.