Robotic Arm Inverse Kinematics Through Graphical Approach

Automation and Robotics have a lot of scope in the present scenario; there are many fields of applications in the industrial sector for robot manipulators like material handling, space manipulation, welding, grinding, spray painting, vision inspection, etc. To achieve the above-stated goal, one should have sound knowledge of inverse kinematics to control a robot mechanism. This chapter deals with the forward and inverse kinematics of a 4 degree of freedom spatial robotic arm. To determine the end effector position, the D-H frameworks are used for forward kinematics, and a graphical approach was used for inverse kinematics solution. The graphical approach is obtained by solving the values of joint variables at a desired end effector position using trigonometry. The movement of the robotic arm is actuated with stepper motors by using the microcontroller and Raspberry pi.