A closed-form solution of inverse kinematic for 4 DOF tetrix manipulator robot

One of the most commonly used robots in the industry is the robot manipulator. The movement of robot manipulators in the industry is a mechanical system that requires mathematical modeling methods to represent the geometric aspect, and its dynamic aspect manipulation. A kinematic analysis is needed to analyze the robot's movement regardless of the effect of inertia. The movement of robots that can rotate or translate on each joint will be complex if the calculation of each joint using kinematic analysis. To complete the kinematic analysis, a method called Denavit Hartenberg parameter (DH-Parameter) is used where the DH parameter can be performed after compiling the geometry image before forming the parameters. Furthermore, these parameters will be inputted to form homogeneous matrix so that can be analyzed kinematic forward and kinematic inverse. Because of the robot construction in this study causes some limitation in the movement of robot manipulator. Joint elbow, wrist, and end effector can only move at an angle of −90°–90°.