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  Scopus ID: 21100926589

Prediction of Inverse Kinematics Solution of a Robotic Manipulator Using Python

Hrithik Varma Balerao, Naresh Kumar Sarella, Venkateshwar Reddy Pathapalli and Srinivasa Rao Pittam

Abstract

In the current profession of global engineering have a feeling that robotics is somewhat a field with a main goal of a target. Important one of the making of machines that performs like human being. The kinematics of robots deals mostly with the motion of linkages which consist of velocity, displacement, and acceleration of robotic manipulator analytically. Deriving the kinematic model for a robotic mechanism of open chain for analyzing the performance of industrial manipulators. In this work, it will be examined closely a class of Popular 2-DOF and 3-DOF open chain mechanisms where its inverse kinematics admit a closed form analytical Solution. By using python simple coding can be developed easily. A two-link planar connection manipulator and a three-link planar RR manipulator are considered to get an Inverse kinematic solution in a python environment. For this, a solution is considered to acquire the links of joint variables to reach the workspace position with corresponding values of input as the length of a link, position of the end effector.

Published on: November 28, 2023
doi: 10.17756/nwj.2023-s4-037
Citation: Balerao HV, Sarella NK, Pathapalli VR, Pittam SR. 2023. Prediction of Inverse Kinematics Solution of a Robotic Manipulator Using Python. NanoWorld J 9(S4): S214-S219.

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