MIT-World Peace University (MIT-WPU) is a top educational institute located in Pune, India. It is recognized within&nbsp;UGC under Government of Maharashtra Act No. XXXV 2017.&nbsp;

It is part of the MIT group of institutions (established in 1983) which covers 10+ campuses across India and has more than 50,000+ students enrolled across various disciplines at a given point of time. The institute houses 15 schools ranging from Engineering &amp; Technology, Design, Pharmacy, Commerce, Governance among others. It offers undergraduate, postgraduate and PhD programs among different disciplines.&nbsp;

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MIT World Peace University

To control robot manipulators as per the requirement, it is important to consider its kinematic model. In robotics, we use the kinematic relations of manipulators to set up the fundamental equations for dynamics and control. The objective of this paper is to introduce triangular prism structured manipulator and derive the forward kinematic model using Denavit-Hartenberg representation.