Inverse kinematics using transposition method for robotic arm

摘要

Forward and inverse kinematics of the DOBOT manipulator is presented in this paper. Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. For forward kinematics we used analytical solution and we made Jacobi matrix by derivate kinematics equations. Inverse kinematics makes use of the kinematics equations to determine the joint parameters that provide a desired position for the robot's end-effector. The inversion of Jacobi matrix was used for numerical solution of the inverse kinematics task. Simulation was created in Matlab environment using SimMechanics toolbox and in second case by described numerical solution.