Authors : Hassan Mohammad Alwan and Zaid Hikmat Rashid
Abstract: The kinematics of manipulator is a central problem in robot control. AR2 robot is adopted as a case study which has six Degree of Freedom (DOF), three links with revolute joints and spherical wrist. Danivat Hartenberg (DH) convention is based to predicate the forward kinematics position and orientation of the robot end effector. The calculated forward kinematics has been verified and simulated with MATLAB robotics toolbox while the Inverse Kinematics (IK) problem is divided into two sub problem, arm IK (position solving) and wrist IK (orientation solving). Both geometrical and numerical approaches are presented to solve the problems which lead to eight different configurations four for arm and two for wrist and many sets of joints angles. The presented approaches can be applicable to solve the kinematics problem of other similar kinds of robot manipulators and achieve a suitable solution for tracking trajectories.
Hassan Mohammad Alwan and Zaid Hikmat Rashid, 2018. Kinematic Analysis and Simulation of Three Link (Open Chain) Robot Manipulator with Six DOF. Journal of Engineering and Applied Sciences, 13: 1829-1834.