Authors : Firas S. Hameed, Hassan M. Alwan and Qasim A. Ateia
Abstract: In robotics, it is well known that we cannot design a fully operative robotic system without having a complete idea about its kinematics, especially, the inverse kinematics, considering the fact that a successful task accomplishment of the robotic arm is completely dependent upon the accuracy of the end effector positioning along the pre-specified path at every time step. In this study, a new method is proposed to solve the inverse kinematics problem for nth-degree-of-freedom robotic arms. The basic idea of the method is to select a polynomial whose constants are dependent upon the available work space in which the robotic arm operates and align the joints of the robotic arm on that spatial curve. The method showed a perfect performance for robotic arms with many degrees of freedom. However, a five degree of freedom robotic arm was used here to demonstrate the performance of the method.
Firas S. Hameed, Hassan M. Alwan and Qasim A. Ateia, 2019. Novel Approach to Solve the Inverse Kinematics Problem for a Multi-Degree-of-Freedom Robotic Arm. Journal of Engineering and Applied Sciences, 14: 4617-4624.