This research aims at Inverse Kinematic Modeling of a Prosthetic Upper Limb which consist of four degree of freedom (DOF). Focus of this research is to obtain desired joint angles for specified positions and orientations of arm model with respect to reference frame based on the orientation and configuration. Inverse Kinematics play an important role in automation of Robotic Manipulators. Analytical Inverse Kinematic (IK) model is presented and explained in detail. Achieved results are being verified by using PeterCorke Robotics Toolbox (PRT) which runs in Matlab® environment. IK model simulated results are discussed as well. This simulation can be done for all the desired orientations and configurations.Trajectory planning of manipulators is an active area since many tasks requires special characteristics to be satisfied. Joint Space Trajectory of proposed model has also been discussed.
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