Analysis of Numerical Method on Inverse Kinematics of Robotic Arm Welding with Artificial Intelligence

摘要

Abstract The key component of versatile production processes is robots. They are found in diverse systems where it is possible to bypass and optimize human function. I simulated a remote-control trickster in MATLAB with 6 degrees of freedom in this research. A robot is used in numerous applications, such as decoration, carpentry and equipment testing. In hardware verification labs, robotic arms are used to hold passive and power rail probes that connect from instruments like scopes and power supplies to PCB boards to protect the PCB layout from rip off due to sudden movement of the probes. Robot kinematics uses the geometry (position and orientation) of rigid bodies (links) and joints to control the movement of the robot. In this project, to control its movement, I have illustrated either forward or reverse enzyme kinetics of a device. Through Kinematics uses the positions of a joint to measure the end-effector position of the robot. The angles of the joints with the end-effector position are determined by inverse kinematics as the reference. There are several methods to calculate the forward and inverse kinematics such as analytical methods, numerical hit and trial, and iterative methods.