In this paper, the mathematic model and kinematics of robotic arm are mainly analyzed. The direct kinematic analysis with Denavit-Hartenberg (D-H) method is used to determine the parameters with transformation matrices. The calculated parameters of robotic arm are implemented and compared with the measured parameters by rotary encoder to determine the accuracy of each parameter.

robotic arm, Denavit-Hartenberg, direct kinematic, forward kinematic.