Spatial Analysis of Robotic Arm with Constrained Joints

摘要

Robotic arms are still a dream to be implemented for domestic purposes because of their complexity in operation and construction. Even though a lot of years in research, robots are not yet ready to meet the versatility of various tasks and functions. To develop low-cost robotic arms, the links which can be joined by servo motors may have a constrained angular rotation limits which are not considered in the computation of conventional inverse kinematics, involving huge efforts in programming and developing spatial control algorithms. In this paper, an approach is made to analyze the workspace of a 3 link chain which has a constrained motion of 180 degrees at joints, further the relations between the joint parameters and the end-effector position is also observed and compared.