Inverse Kinematics solution for a 3DOF robotic structure using Denavit-Hartenberg Convention

Abstract

Robotic manipulators are very common for different robotic applications. We designed and created a 3DOF robotic leg shaped structure. Then we deduced the Kinematics and Inverse Kinematics solution through Denavit-Hartenberg Convention and with that solution, simulation software is designed to predict the movement and also to control the robotic structure. This simulation software gives predicted results for the robotic structure. After that we attached two of the robotic legs with a small car and moved the car by pushing through them. With the robotic leg the car moved at about 0.48 feet/second velocity. Our further plan is to use the robotic leg to create a Hexapod robot.