TY  - JOUR
T1  - Kinematic Analysis and Simulation of Three Link (Open Chain)
Robot Manipulator with Six DOF
AU - Mohammad Alwan, Hassan AU - Hikmat Rashid, Zaid 
JO  - Journal of Engineering and Applied Sciences
VL  - 13
IS  - 7
SP  - 1829
EP  - 1834
PY  - 2018
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2018.1829.1834
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2018.1829.1834
KW  - DH parameters
KW  -forward kinematics
KW  -inverse kinematics (geometrical and numerical appraochs)
KW  -applicable
KW  -suitable
KW  -trajectories
AB  - The kinematics of manipulator is a central problem in robot control. AR2 robot is adopted as a case
study which has six Degree of Freedom (DOF), three links with revolute joints and spherical wrist. Danivat
Hartenberg (DH) convention is based to predicate the forward kinematics position and orientation of the robot
end effector. The calculated forward kinematics has been verified and simulated with MATLAB robotics toolbox
while the Inverse Kinematics (IK) problem is divided into two sub problem, arm IK (position solving) and wrist
IK (orientation solving). Both geometrical and numerical approaches are presented to solve the problems which
lead to eight different configurations four for arm and two for wrist and many sets of joints angles. The
presented approaches can be applicable to solve the kinematics problem of other similar kinds of robot
manipulators and achieve a suitable solution for tracking trajectories.
ER  -