Abstract
This paper presents the forward and inverse Kinematics inodeling of a four Degree of Freedom (DOF) articulated robot arm, mounted on Radiation Protection Assistant Robot-I (RPAR-I), It is a wheeled mobile monitoring and surveillance robot being designed and developed at Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEA). Recent advances in robotics and radiation hardening technologies have led to the fusion of radiation protection techniques and robot devices. The robot equipped with machine vision and remote control capabilities for tool maneuvering, promises safety of radiation workers from unnecessary radiation doses during handling of radioactive material and preventive maintenance schedules.