Design and Implementation of Inverse Kinematics Algorithm to Manipulate 5-DOF Humanoid Robotic Arm

Abstract

Inverse Kinematics (IK) is a mathematical approach to compute joint angles of an arm based on given position and orientation of the wrist in the space. This paper presents implementation of new analytical solution of Inverse Kinematics algorithm to manipulate new 3D printed 5-DOF Humanoid Robotic Arm termed (HRA). The proposed IK algorithm is programmed using MATLAB to find the joints angles which used to control the servos of HRA via Arduino microcontroller. Six desired positions are used as targets to be achieved on experimental workspace in the LAB. The IK algorithm is assessed by calculating the Root Mean Squared Error (RMSE) for the absolute error vector for six positions. Results shows that minimum achieved (RMSE) for the arm's end effector position is 0.5774.