Inverse Kinematics of a 9 DOF, 2d Serial Manipulator Following Target in Specific Path Using Numerical Method

Abstract

Inverse kinematics is a critical problem in robotics that has attracted significant attention from researchers worldwide. For this study, we present a comprehensive analysis of the inverse kinematics (IK) problem for a 9 Degree of Freedom (DOF), 2D serial manipulator. The objective of this research is to determine the necessary joint angles of the manipulator to achieve a required end-effector position and orientation in different environments. We apply Newton-Raphson's (N-R) method to solve this problem, which is an efficient iterative algorithm for finding the different roots of a system of nonlinear equations. Our findings show that Newton-Raphson's method is an effective approach for solving the IK problem for the 9 DOF manipulator in different static environments. This research contributes to the advancement of the field of robotics, particularly in the area of inverse kinematics.

Cite as

Ashis Anshuman Hati, & Sourav Parida. (2023). Inverse Kinematics of a 9 DOF, 2d Serial Manipulator Following Target in Specific Path Using Numerical Method. Advancement in Mechanical Engineering and Technology, 6(2), 13–23. https://doi.org/10.5281/zenodo.8003257