Abstract
In this study a five Degrees of Freedom (DOF) serial robot manipulator was designed and implemented. The inverse kinematics problem, which has not exact analytical solution (only one inverse kinematic solution for a predefined end effector position in three dimensional space), of the robot mechanism was solved by using the combination of the analytical method and a simple search method. In order to use the proposed method in real-time applications, the method is designed so that it can be used to solve the inverse kinematics problem for the next point of the end-effector while the mechanism is working. Moreover, so that to control the implemented mechanism, a user interface program was written by using Visual Basic programming language. Finally, the proposed inverse kinematic solution method was tested on two different trajectories, an arc shaped trajectory that composed of 58 points and a linear trajectory divided into 29 points. The obtained results revealed that the proposed method can be used successfully in solving the inverse kinematic problem of the designed mechanism.
Highlights
In recent years, robot mechanisms have been used in almost every field in the industry, such as automotive technology, space exploration, rescue operations etc
The proposed inverse kinematic solution method was tested on two different trajectories, an arc shaped trajectory that composed of 58 points and a linear trajectory divided into 29 points
Park et al [11] proposed an iterative algorithm for the inverse kinematic solution of a five Degrees of Freedom (DOF) serial robotic mechanism with offset wrist
Summary
Robot mechanisms have been used in almost every field in the industry, such as automotive technology, space exploration, rescue operations etc. Except for analytic solution, a number of different methods have been proposed for solving these problems in the literature Some of these methods can be given as follows; Koker [6] employed an artificial neural network and genetic algorithm-based method in order to solve the inverse kinematic problem of a six-joint Stanford robot manipulator. Kucuk and Bingül [16] proposed a new numerical algorithm, called NIKA for solving inverse kinematic problem of the serial robot manipulators with offset wrist. Toz [18], proposed to use Ant Colony Optimization Algorithm for solving the inverse kinematic problem of a six DOF serial robot manipulator with offset wrist.
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