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), 2024. Published by Science Publishing Group |
Kinematics, Robotic Arms, Machines, Linkage, Matlab, Python, Fuzzy Logic
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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
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
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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Download@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}
}
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 SP - 16 EP - 20 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 ER -
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