Kinematic Analysis for Non-Planar 2R Robotic Manipulator.

Abstract

The research considers the control of the movement of a non-planar 2R robot consisting of two joints connected through two revolute joints. The objective of the study is to conduct a thorough analysis based on the dimensions of the robotic manipulator to first obtain the characteristic transformation matrices of forward kinematics using Denavit–Hartenberg (DH) parameters and subsequently achieve control of the positioning of the robot's end-effector within its workspace along a defined trajectory (inverse kinematics) obtained through algebraic methods and Machine Learning (Artificial Neural Network, ANN).