Detailed kinematics analysis of a 5-DOF robotic arm (RPRRR) without spherical wrist using nonlinear optimization for inverse kinematics subjected to joint constraints.
The methodology and background of the methods are described in depth in the attached report.
The proposed inverse kinematics solution exhibits very promising results.
| i | θ | d | a | α |
|---|---|---|---|---|
| 9 | θ9 | 0 mm | 0 mm | 90 deg |
| 10 | 90 deg | d10 | 0 mm | 0 deg |
| 11 | θ11 | 0 mm | 0 mm | -90 deg |
| 12 | θ12 | 0 mm | 10 mm | -90 deg |
| 13 | θ13 | 0 mm | 8 mm | -90 deg |
