Computation of Kinematic Redundancy and Its Workspace in RRRR Planar Kinematic Chain

A kinematic chain is an assembly of rigid bodies connected by joints to provide desired motion which gives the mathematical model for mechanical systems such as robotic arms and manipulators. In these systems, links are constrained by their connections to other links. The main issue in industrial robots is to determine its ergonomics and have a better workspace maneuverability, on the same concern in this paper a model of robotic manipulator with RRRR planar kinematic chain is used to determine the workspace of its redundant links and the relationship between its various joint parameters with different end-effector positions is observed using Matlab. This kind of study can be used to efficiently manage workspace by motion planning and avoid redundant paths for robots to successfully perform any desired task with versatility.