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Analysis of Forward Kinematics of 2R Robotic Arm

Received: 27 September 2022     Accepted: 26 October 2022     Published: 18 May 2023
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Abstract

In Kinematics, the analysis of acceleration and velocity is usually done whereas the forces are neglected. The machine’s smallest unit is the link, which is akin to a cell in the human body. Robotics is built on the foundation of machines. A pair is established by the combination of links which leads to the construction of linkage. A mechanical linkage is a collection of bodies that are connected to control forces and movement. The combination of linkage (also known as Mechanism) generates Machine. The robot’s kinematics equations are used in robotics, video games and animation. Inverse kinematics is the mathematical process of determining variable joint parameters necessary to place an object at the end of a kinematic chain in a specific position and orientation with respect to the start of the chain, such as robot manipulator or skeleton of an animated character. The role of Forward and Inverse Kinematics in a 2R Robotic Arm are studied with successful demonstrations. Forward Kinematics of a 2R Robotic Arm using Matlab and Python confirming similar results are exhibited (Figure 8 and Figure 9). Matlab illustrated 2D Path Tracing for 2R Robotic Arm with Inverse Kinematics. Finally, inverse kinematics of 2R Robotic Arm in Matlab using fuzzy logic is modelled successfully. Thus, it helps in the understanding of kinematics and can be used in the simulation of machines.

Published in Engineering and Applied Sciences (Volume 8, Issue 2)
DOI 10.11648/j.eas.20230802.11
Page(s) 16-20
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2023. Published by Science Publishing Group

Keywords

Kinematics, Robotic Arms, Machines, Linkage, Matlab, Python, Fuzzy Logic

References
[1] Y. Pan, J. Tang, Q. Zhao and S. Zhu, (2020), Forward and Inverse Kinematics Modelling and Simulation of Six-axis Joint Robot Arm Based on Exponential Product Method, IEEE 3rd International Conference on Automation, Electronics and Electrical Engineering.
[2] Pannawit Srisuk, Adna sento, Yuttana Kitjaidure, (2017), Inverse Kinematics Solution using Neural Networks from Forward Kinematics Equations, 9th International Conference on Knowledge and Smart Technology (KST).
[3] S. Fuenzalida, K. Toapanta, J. Paillacho and D. Paillacho, (2019), Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction, IEEE Fourth Ecuador Technical Chapters Meeting (ETCM).
[4] Prayook Jatesiktat, Wei Tech Ang, (2017), Recovery of forearm occluded trajectory in Kinect using a wrist-mounted Inertial Measurement Unit, 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
[5] M. H. Rahman, Member, IEEE, M. Saad, Senior Member, IEEE, J. P. Kenné, and P. S. Archambault, Exoskeleton robot for rehabilitation of elbow and forearm movements, 18th Mediterranean Conference on Control and Automation, MED'10.
[6] Lincong Luo, Liang Peng, Zengguang Hou, Weiqun Wang, (2017), Design and Control of a 3-DOF Rehabilitation Robot for Forearm and Wrist, 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
[7] Sebastián Fuenzalida, Keyla Toapanta, Jonathan Paillacho, Dennys Paillacho, (2017), Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction, 9th International Conference on Knowledge and Smart Technology (KST).
[8] Yunhao Pan, China Jingdi Tang, China Qingyuan Zhao, China Shengyi Zhu, (2020), Forward and Inverse Kinematics Modeling and Simulation of Six-axis Joint Robot Arm Based on Exponential Product Method, IEEE 3rd International Conference on Automation, Electronics and Electrical Engineering (AUTEEE).
[9] Mahmood Nahvi (1991), Coordination of human upper arm and forearm motion in rapid extensions, NASA. Ames Research Center, Human Machine Interfaces for Teleoperators and Virtual Environments.
[10] Tan Chen, Bill Goodwine (2020), Control of A 2R Planar Horizontal Underactuated Manipulator, 16th International Conference on Control, Automation, Robotics and Vision (ICARCV).
[11] Kuang-Chyi Lee; Ping-Yen Chiang; Ha-Anh Truong, (2018), The forward kinematics for the HR1-NFU humanoid robot, IEEE International Conference on Advanced Manufacturing (ICAM).
[12] Wei Shen (2021), Kinematics Analysis and Trajectory Planning of Robot Based on MATLAB, 2021 IEEE International Conference on Power Electronics, Computer Applications (ICPECA).
[13] Summit Sayem; Feroz Ahmed (2017), A Forward Kinematics approach towards Humanoid Robot handwriting, 2nd International Conference on Electrical & Electronic Engineering (ICEEE).
[14] Peng Chen; Jingchang Long; Wen Yang; Jianxing Leng, (2021), Inverse Kinematics Solution of Underwater Manipulator Based on Jacobi Matrix, OCEANS 2021: San Diego – Porto.
[15] Mohamad Reda A. Refaai, (2021), Using Multiple Adaptive Neuro-Fuzzy Inference System to Solve Inverse Kinematics of SCARA Robot, 18th International Multi-Conference on Systems, Signals & Devices (SSD).
Cite This Article
  • APA Style

    Fatima Mohammad Amin. (2023). Analysis of Forward Kinematics of 2R Robotic Arm. Engineering and Applied Sciences, 8(2), 16-20. https://doi.org/10.11648/j.eas.20230802.11

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    ACS Style

    Fatima Mohammad Amin. Analysis of Forward Kinematics of 2R Robotic Arm. Eng. Appl. Sci. 2023, 8(2), 16-20. doi: 10.11648/j.eas.20230802.11

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    AMA Style

    Fatima Mohammad Amin. Analysis of Forward Kinematics of 2R Robotic Arm. Eng Appl Sci. 2023;8(2):16-20. doi: 10.11648/j.eas.20230802.11

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  • @article{10.11648/j.eas.20230802.11,
      author = {Fatima Mohammad Amin},
      title = {Analysis of Forward Kinematics of 2R Robotic Arm},
      journal = {Engineering and Applied Sciences},
      volume = {8},
      number = {2},
      pages = {16-20},
      doi = {10.11648/j.eas.20230802.11},
      url = {https://doi.org/10.11648/j.eas.20230802.11},
      eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.eas.20230802.11},
      abstract = {In Kinematics, the analysis of acceleration and velocity is usually done whereas the forces are neglected. The machine’s smallest unit is the link, which is akin to a cell in the human body. Robotics is built on the foundation of machines. A pair is established by the combination of links which leads to the construction of linkage. A mechanical linkage is a collection of bodies that are connected to control forces and movement. The combination of linkage (also known as Mechanism) generates Machine. The robot’s kinematics equations are used in robotics, video games and animation. Inverse kinematics is the mathematical process of determining variable joint parameters necessary to place an object at the end of a kinematic chain in a specific position and orientation with respect to the start of the chain, such as robot manipulator or skeleton of an animated character. The role of Forward and Inverse Kinematics in a 2R Robotic Arm are studied with successful demonstrations. Forward Kinematics of a 2R Robotic Arm using Matlab and Python confirming similar results are exhibited (Figure 8 and Figure 9). Matlab illustrated 2D Path Tracing for 2R Robotic Arm with Inverse Kinematics. Finally, inverse kinematics of 2R Robotic Arm in Matlab using fuzzy logic is modelled successfully. Thus, it helps in the understanding of kinematics and can be used in the simulation of machines.},
     year = {2023}
    }
    

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  • TY  - JOUR
    T1  - Analysis of Forward Kinematics of 2R Robotic Arm
    AU  - Fatima Mohammad Amin
    Y1  - 2023/05/18
    PY  - 2023
    N1  - https://doi.org/10.11648/j.eas.20230802.11
    DO  - 10.11648/j.eas.20230802.11
    T2  - Engineering and Applied Sciences
    JF  - Engineering and Applied Sciences
    JO  - Engineering and Applied Sciences
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    PB  - Science Publishing Group
    SN  - 2575-1468
    UR  - https://doi.org/10.11648/j.eas.20230802.11
    AB  - In Kinematics, the analysis of acceleration and velocity is usually done whereas the forces are neglected. The machine’s smallest unit is the link, which is akin to a cell in the human body. Robotics is built on the foundation of machines. A pair is established by the combination of links which leads to the construction of linkage. A mechanical linkage is a collection of bodies that are connected to control forces and movement. The combination of linkage (also known as Mechanism) generates Machine. The robot’s kinematics equations are used in robotics, video games and animation. Inverse kinematics is the mathematical process of determining variable joint parameters necessary to place an object at the end of a kinematic chain in a specific position and orientation with respect to the start of the chain, such as robot manipulator or skeleton of an animated character. The role of Forward and Inverse Kinematics in a 2R Robotic Arm are studied with successful demonstrations. Forward Kinematics of a 2R Robotic Arm using Matlab and Python confirming similar results are exhibited (Figure 8 and Figure 9). Matlab illustrated 2D Path Tracing for 2R Robotic Arm with Inverse Kinematics. Finally, inverse kinematics of 2R Robotic Arm in Matlab using fuzzy logic is modelled successfully. Thus, it helps in the understanding of kinematics and can be used in the simulation of machines.
    VL  - 8
    IS  - 2
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Author Information
  • School of Electronics Engineering, Vellore Institute Technology (VIT), Vellore, India

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