DIRECT AND INVERSE KINEMATICS TO THE ANTHROPOMORPHIC ROBOTS

Abstract

The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation).  If one study (analyzes) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), it already has a base system, on which one can then add other movements (secondary, additional). Calculations were arranged and in the matrix form.