Joint angle variations analyses of the two link planar manipulator in welding by using inverse kinematics

Bulut S., Terzioglu M.

ROBOTICA, vol.24, pp.355-363, 2006 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 24
  • Publication Date: 2006
  • Doi Number: 10.1017/s0263574705002274
  • Journal Name: ROBOTICA
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.355-363
  • Keywords: two link planar manipulator, inverse kinematics, joint angles, angular velocity, forward kinematics
  • Sivas Cumhuriyet University Affiliated: Yes

Abstract

In this paper, the joint angles of a two link planar manipulator are calculated by using inverse kinematics equations together with some geometric equalities. For a given position of the end-effector the joint angle and angular velocity of the links are derived. The analyses contains many equations which have to be solved. However, the solutions are rather cumbersome and complicated, therefore a program is written in Fortran 90 in order to do, the whole calculation and data collection. The results are given at the end of this paper.