Manipulability and Kinematics Analysis of Three-Linked Robotic Arm Using Mathematical Program

Abstract

The Kinematics study deals with the motion of the bodies and the mechanism without consideration of force. Geometry is applied by robot kinematics to the research movement of multi-degree freedom kinematic links that shape the robot manipulator structure. The most critical problem is locating the end effector and angle of the robot manipulator. Used in automation industries to perform various tasks. To overcome this problem, Singular Value Decomposition (SVD) of the Jacobin matrix has been derived using length and angle for robotic manipulator links. In this work, a mathematical program for solving kinematics of the three linked robotic arms has been developed. End effector position x, y and joint angles θ1, θ2, θ3 for the robotic arm have been simulated and values are obtained by using MATLAB software. From the developed mathematical program, the required progression positions of the robotic arm over time have been achieved.