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This paper represents the generation of a STANFORD 6 DOF manipulator end-effector matrix using a MATLAB code. The end effector matrix of the manipulator is also calculated by analytical method. Roboanalyzer software is used to support the results generated by the MATLAB code and analytical method. The homogenous transformation matrix is of the order 4×4 that gives us the end effectors or tool frames position and orientation with respect to the fixed base frame. D-H parameters are used for the frame assignment to each link. Forward kinematics is implemented in MATLAB, analytical method and Roboanalyzer software and the results are compared which are found to be equal.

Matlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer