Study of Inverse Kinematics of Six Degree of Freedom Manipulator Using Fabrik

Yem, Jie (2021) Study of Inverse Kinematics of Six Degree of Freedom Manipulator Using Fabrik. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

This project aims to develop an algorithm to solve the inverse kinematic (IK) problem of a 6 Degree of Freedom (DOF) industrial robotic manipulator based on FABRIK. To carry out this project, a research framework has been formulated from deriving to testing the algorithm in MATLAB. The algorithm calculate and locate the joint position for every joint of the robot to the desired position (X, Y, Z) for the end-effector to reach in Cartesian space. The rotation angle for each joint will then be calculated and angle correction is performed when the joints has exceed its angle limit. After the algorithm was formulated, two experiments were conducted to test the performance of the algorithm for its reliability in MATLAB. The result of the experiments shows that with an average of 13 iteration to complete calculation with average error of 0.0013 mm in Cartesian space. The error is considered acceptable as it is much smaller than the repeatability for the industrial robot RV35-F with 0.07mm. The limitation of this project is the algorithm is only able to locate the end-effector position within the first and fourth quadrant of the XY plane of the robotic manipulator. Nonetheless, the contribution of this project to the field of industrial robotics design is a tested algorithm with high reliability in solving IK problems of articulated robotic manipulator with fewer computing steps compared to other numerical methods with singularity issue avoided.