A Study and Kinematics Analysis of a Quadruped Robot by the Protype Building Leg

Kinematics analysis is a crucial part for multiple joint enabled robot. For Mmathematically moving a multi joined enabled robot, it needs some mathematical calculations to be done that way so the end effector's position can be determined with respect to the other connective joints involved and their respective frames in a specific co-ordinate system. For a locomotive quadruped robot, it is essential to determine two types of kinematics for the robot's leg position on the co-ordinate. For the part of forward kinematics, it measures the position and er can calculate the joint angles by using inverse kinematics. in this study, we mathematically analyze and derived the forward and the inverse kinematics of the quadruped robot and first we have done the simulation with Jupiter notebook in Python environment for the mathematical analysis and verification and also test our kinematics code on a prototype build leg.