Forward and inverse kinematics of a 6-DOF robotic manipulator with a prismatic joint using MATLAB robotics toolbox

Robotic manipulators have become pivotal in automating industrial processes, significantly contributing to various sectors, including manufacturing, automotive, aerospace, and healthcare.These mechanical devices, designed to replicate the actions of a human arm, perform tasks through articulated movements with high precision, speed, and efficiency [1,2].The evolution from simple singledegrees of freedom (DOF) systems to sophisticated multi-DOF systems has been largely driven by the increasing demand for automation and the need for advanced manufacturing processes.As industries strive for higher productivity and quality, the role of robotic manipulators continues to expand, emphasizing the importance of their development and optimization [2,3].