5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique

摘要

In this study a five Degrees of Freedom (DOF) serial robot manipulatorwas designed and implemented. The inverse kinematics problem, whichhas not exact analytical solution (only one inverse kinematic solutionfor a predefined end effector position in three dimensional space), of therobot mechanism was solved by using the combination of the analyticalmethod and a simple search method. In order to use the proposedmethod in real-time applications, the method is designed so that it canbe used to solve the inverse kinematics problem for the next point of theend-effector while the mechanism is working. Moreover, so that tocontrol the implemented mechanism, a user interface program waswritten by using Visual Basic programming language. Finally, theproposed inverse kinematic solution method was tested on two differenttrajectories, an arc shaped trajectory that composed of 58 points and alinear trajectory divided into 29 points. The obtained results revealedthat the proposed method can be used successfully in solving the inversekinematic problem of the designed mechanism.