Research Article Open Access

Inverse Kinematics (IK) Solution of a Robotic Manipulator using PYTHON

R. Venkata Neeraj Kumar1 and R. Sreenivasulu2
  • 1 Indian Institute of Technology, India
  • 2 R.V.R.&J.C. College of Engineering (Autonomous), India
Journal of Mechatronics and Robotics
Volume 3 No. 1, 2019, 542-551

DOI: https://doi.org/10.3844/jmrsp.2019.542.551

Submitted On: 20 July 2019
Published On: 10 September 2019

How to Cite: Neeraj Kumar, R. V. & Sreenivasulu, R. (2019). Inverse Kinematics (IK) Solution of a Robotic Manipulator using PYTHON. Journal of Mechatronics and Robotics, 3(1), 542-551. https://doi.org/10.3844/jmrsp.2019.542.551

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.

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Keywords

  • Robotic Manipulator
  • Inverse Kinematics
  • Joint Variables
  • PYTHON