Abstract
The Denavit-Hardenberg (D-H) method is widely used to calculate the kinematic properties of various types of robots, where it is possible to obtain a complete description of the robot's operation. Based on this method's parameters, it is possible to provide the typical arrangement of all robotic joints. In this work, the kinematic properties such as displacement, velocity, and acceleration of a 3DOF Planar Robot are analyzed using MATLAB software. Two types of paths are traced in this paper, the straight path, and the zigzag path.
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