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two link planar manipulator

Robotica (1)

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Joint angle variations analyses of the two link planar manipulator in welding by using inverse kinematics
S. Bulut, M. B. Terzioǧlu
Journal:

Robotica / Volume 24 / Issue 3 / May 2006

Published online by Cambridge University Press:

23 November 2005, pp. 355-363
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In this paper, the joint angles of a two link planar manipulator are calculated by using inverse kinematics equations together with some geometric equalities. For a given position of the end-effector the joint angle and angular velocity of the links are derived. The analyses contains many equations which have to be solved. However, the solutions are rather cumbersome and complicated, therefore a program is written in Fortran 90 in order to do, the whole calculation and data collection. The results are given at the end of this paper.