Abstract
Present global engineering professionals feels that, robotics is a somewhat young field with extremely ruthless target, the crucial one being the making of machinery/equipment that can perform and feel like human beings. Robot kinematics deals with the study of motion of linkages which includes displacement, velocities and accelerations of a robot manipulator analytically. Deriving the proper kinematic models for an open chain mechanism of a robot is essential for analyzing the performance of industrial robotic manipulators. In this study, first scrutinize a popular class of two and three degrees of freedom open chain mechanism whose inverse kinematics admits a closed-form analytic solution. A simple coding was developed in python in an easy way. In this connection a two link planer manipulator was considered to get inverse kinematic solution developed in python environment. For this task, we present a solution for obtaining the joint variables of linkages to reach the position in a work space with the corresponding input values such as link lengths and position of end effector.
Highlights
Robot kinematics deals with the study of motion of linkages which includes displacement, velocities and accelerations of a robot manipulator analytically
Deriving the proper kinematic models for an open chain mechanism of a robot is essential for analyzing the performance of industrial robotic manipulators
The robot inverse kinematics task is concerned with the recognition of the whole feasible and proper sets of joint variables that would understand the solution to find out the positions and orientations of the end effector
Summary
Robot kinematics deals with the study of motion of linkages which includes displacement, velocities and accelerations of a robot manipulator analytically. Deriving the proper kinematic models for an open chain mechanism of a robot is essential for analyzing the performance of industrial robotic manipulators. The task related to robot trajectory path planning control can be split into two types, one is the coordination of the links of kinematics chain to produce desired motions of the robot and the other is dynamic control i.e., linkage driving mechanism using actuators technology by providing position and velocity sensors. The robot manipulator design concentrate on physical arrangement of linkages and mechanisms, includes development of forward and inverse kinematic equations with standard existing methods
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