Inverse Kinematics (IK) Solution of a Robotic Manipulator using PYTHON
- 1 Indian Institute of Technology, India
- 2 R.V.R.&J.C. College of Engineering (Autonomous), India
Copyright: © 2021 R. Venkata Neeraj Kumar and R. Sreenivasulu. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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.
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- Robotic Manipulator
- Inverse Kinematics
- Joint Variables