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

Abstract

In this study a five Degrees of Freedom (DOF) serial robot manipulator was designed and implemented. The inverse kinematics problem, which has not exact analytical solution (only one inverse kinematic solution for a predefined end effector position in three dimensional space), of the robot mechanism was solved by using the combination of the analytical method and a simple search method. In order to use the proposed method in real-time applications, the method is designed so that it can be used to solve the inverse kinematics problem for the next point of the end-effector while the mechanism is working. Moreover, so that to control the implemented mechanism, a user interface program was written by using Visual Basic programming language. Finally, the proposed inverse kinematic solution method was tested on two different trajectories, an arc shaped trajectory that composed of 58 points and a linear trajectory divided into 29 points. The obtained results revealed that the proposed method can be used successfully in solving the inverse kinematic problem of the designed mechanism.