Algorithmic Approach of Estimating And Selection of Inverse Kinematics For Planar Robotic Arm

Abstract

In this project, I researched the kinematic analysis of robot arm. The kinematic analysis is the relationships between the positions, velocities, and accelerations of the links of a manipulator. The kinematics is divided into two types, forward kinematics and inverse kinematics. In forward kinematics, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the robot. In inverse kinematics, the length of each link and position of the point in work volume is given and we have to calculate the angle of each joint.The forward kinematic analysis is not difficult to solve. It is solved by using simple homogeneous matrices. On the other hand, the inverse kinematics is so hard to solve and it will be harder if we increase the degrees of freedom. There are different methods to solve the inverse kinematics. The analytic method and Jacobian method are well-known.In the project, I used the analytic method. In the thesis, I designed a prototype robot arm with 3 freedom degrees. User interface application was created in the personal computer and the data was sent to the hardware application board by using serial communication cable. The program that runs over the application board receives the data and operates. So the end-effecter can be moved to the position we want to go.