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The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints, such as the Denavit-Hartenberg parameters. Given the continuous nature of kinematic analysis and the shortcoming of the traditional verification methods, we propose to use high-order-logic theorem proving for conducting formal kinematic analysis. Based on the screw theory in HOL4, which is newly developed by our research institute, we utilize the geometrical theory of HOL4 to develop formal reasoning support for the kinematic analysis of a robotic manipulator. 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