Computational Analysis of Kinematics of 3 – Links Articulated Robotic Manipulator

Abstract

The Computational Analysis of Kinematics of 3 – Links Articulated Robotic Manipulator has been presented in this. The design of robot manipulators requires accurate computational analysis, involving the geometric position of the linking arms. The method of Forward Kinematics and Inverse Kinematics were employed in estimating the robotic arm’s position with respect to link lengths and angle, in which the angle required to move the end effector to a desired position is estimated and determined. A three link robotic arm with a rigid rotational base was also illustrated using free body diagrams, and computational estimation of the required parameters. The outcomes of the forward kinematics reveals that the robot end effector position can be estimated using the values of x, y, and z coordinates thereby providing a better means of controlling or adapting robot’s arm/motion to its environment.