Design and Simulation of New Inverse Kinematic Algorithm to Manipulate a 5-DOF Humanoid Robotic Arm

Ammar A. Al-Hamadani; Maad Kamal Al-Anni; Ayad Mahmood Kwad; Hugot Pichon; Gamil R. S. Qaid; Najran Nasser Hamood

doi:10.58564/IJSER.5.2.2026.371

Authors

Ammar A. Al-Hamadani Department of Computer Engineering, College of Engineering, Al-Iraqia University, Baghdad- Iraq
Maad Kamal Al-Anni Aix Marseille University, CNRS, ENSAM, Universit´e De Toulon, LIS UMR 7020, 13397 Marseille, France
Ayad Mahmood Kwad Department of Electrical Engineering, College of Engineering, Al-Iraqia University, Baghdad- Iraq
Hugot Pichon Laboratoire d'Astrophysique de Marseille (LAM), Aix-Marseille Université, CNRS, CNES, Marseille, France
Gamil R. S. Qaid Faculty of Computer Science and Engineering, Hodeidah University, Al Hudaydah -Yemen
Najran Nasser Hamood Faculty of Computer Science and IT, Sana'a University, Sana'a-Yemen

DOI:

https://doi.org/10.58564/IJSER.5.2.2026.371

Keywords:

Inverse Kinematics; Humanoid Robotic Arm; Analytical Solution; Graphical User Interface

Abstract

In this paper, a new solution of inverse kinematics was derived and programmed as an algorithm. The algorithm was coded and embedded in a MATLAB simulation program to manipulate a 5-DOF Humanoid Robotic Arm (HRA) and assess its reaching accuracy. The algorithm was designed as follows: joint frames were modelled based on the Denavit-Hartenberg (D-H) concept. Configuration for each joint frame was designed using the proposed D-H parameters. Forward kinematic (FK) equations were derived using the designed frames configuration. The inverse kinematic problem was solved (derived) using an analytical method to find five joint angles for the desired location and orientation. IK equations were derived from the FK transformation matrix for the given location and orientation to revers back the joint angles. The Graphical User Interface (GUI) was designed using MATLAB to simulate the proposed FK/IK algorithm. A group of desired locations was handled using the GUI to show the resultant pose of the HRA. The accuracy of the proposed IK was assessed by means of positional error. The lowest and highest average positional errors achieved were (0.026 and 0.79) cm, respectively.

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