Numerical Method for Inverse Kinematics of A 9 DOF, 2D Serial Manipulator Following Target in a Particular Path

Abstract

A crucial issue in robotics that has drawn a lot of interest from researchers worldwide is inverse kinematics. In this work, we provide a thorough examination of the inverse kinematics (IK) problem for a 2D serial manipulator with 9 DOF. Finding the manipulator's required joint angles to accomplish the desired end-effector position and orientation in various situations is the aim of this study. To tackle this problem, we use Newton-Raphson's (N-R) method, an effective iterative procedure for determining the various roots of a system of nonlinear equations. Our results demonstrate that Newton-Raphson's method works well for resolving the IK problem for the 9 DOF manipulator in various static settings.