TY  - JOUR
T1  - Novel Approach to Solve the Inverse Kinematics Problem for a
Multi-Degree-of-Freedom Robotic Arm
AU - Hameed, Firas S. AU - Alwan, Hassan M. AU - Ateia, Qasim A. 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 13
SP  - 4617
EP  - 4624
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.4617.4624
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.4617.4624
KW  - Inverse kinematics
KW  -robotic arm
KW  -accuracy
KW  -degrees of freedom
KW  -accomplishment
KW  -performance
AB  - In robotics, it is well known that we cannot design a fully operative robotic system without having
a complete idea about its kinematics, especially, the inverse kinematics, considering the fact that a successful
task accomplishment of the robotic arm is completely dependent upon the accuracy of the end effector
positioning along the pre-specified path at every time step. In this study, a new method is proposed to solve
the inverse kinematics problem for nth-degree-of-freedom robotic arms. The basic idea of the method is to select
a polynomial whose constants are dependent upon the available work space in which the robotic arm operates
and align the joints of the robotic arm on that spatial curve. The method showed a perfect performance for
robotic arms with many degrees of freedom. However, a five degree of freedom robotic arm was used here to
demonstrate the performance of the method.
ER  -