Computational Analysis of Kinematics of 3 – Links Articulated Robotic Manipulator
Chukwuemeka C. Obasi1, Ikharo A. Braimoh2, Vincent A. Balogun3, Alphaeus Odaba4, Leonard I. Ogbewey5
1Chukwuemek C. Obasi*, Department of Computer Engineering, Edo University Iyamho, Edo State Nigeria.
2Ikharo A. Braimoh, Department of Computer Engineering, Edo University Iyamho, Edo State, Nigeria.
3Balogun Aizebeoje Vincent, Mechanical Engineering Department, Edo University, Iyamho, Edo State, Nigeria.
4Alphaeus Odaba, Electrical Electronics Engineering Department, Air Force Institute of Technology, Kaduna, Nigeria.
5Leonard Iyase Ogbewey, Computer Engineering, Federal Polytechnic, offa, Kwara State, Nigeria.
Manuscript received on November 22, 2019. | Revised Manuscript received on December 15, 2019. | Manuscript published on December 30, 2019. | PP: 3640-3643 | Volume-9 Issue-2, December, 2019. | Retrieval Number: F8631088619/2019©BEIESP | DOI: 10.35940/ijeat.F8631.129219
Open Access | Ethics and Policies | Cite | Mendeley
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
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.
Keywords: Articulated Robot, End effector, Forward Kinematics, Free Body Diagram, Inverse Kinematics, Planar Robot, Robotic, Rigid Body, Robot Arm.