Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR Manipulator

DOI

10.2991/978-94-6463-518-8_50How to use a DOI?

Keywords

Forward Kinematics; Inverse Kinematics; Three-degree-of-freedom; Motion Control

Abstract

The increasing need for precise and multifunctional robotic systems in industries such as assembly, welding, and painting shows the importance of kinematic analysis. This paper aims to study and explain the kinematic properties of a three-degree-of-freedom (3-DOF) manipulator, which encompasses a revolving disk like the foundation and two revolving joints, also called the rotating joints. By analyzing forward and inverse kinematics, this paper aims to understand better and control the nature of movement shown by this robot arm. Forward kinematics entails calculating the values of the location and orientation of the end effector in connection with particular joint parameters. On the other hand, inverse kinematics aims to find the specific joint parameters to achieve a specific end-effector position. This paper uses a mathematical model and computational algorithms to solve the kinematic equations, allowing the manipulator to move precisely inside its domain. By comparing detailed models of transformation matrices used, the robot arm’s working movement is entirely predicted and regulated. The resulting conclusion drawn from this critical analysis is that the proposed solutions lead to a significant leap in the theoretical understanding of the movement of robots and have efficient implications for a precise working automation context. Therefore, this basis creates more paths for developing advanced robot control algorithms.

Copyright

© 2024 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Xingyu Qiu
PY  - 2024
DA  - 2024/09/28
TI  - Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR Manipulator
BT  - Proceedings of the 2024 International Conference on Mechanics, Electronics Engineering and Automation (ICMEEA 2024)
PB  - Atlantis Press
SP  - 532
EP  - 543
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-518-8_50
DO  - 10.2991/978-94-6463-518-8_50
ID  - Qiu2024
ER  -