Inverse kinematics of OWI-535 robotic arm

Primož Debenec (2015) Inverse kinematics of OWI-535 robotic arm. EngD thesis.

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Abstract

The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into the software code. The process, how to calculate the result of the inverse kinematics, is divided into two parts. The first part consists of the calculation of the inverse kinematics, where the result is the set of possible results. The second part includes the selection of the best results from the set of results we have gotten in the first part. We have also made an upgrade that includes the orientation of the robotic arm. The robotic arm can move to the given point, turned to the preselected direction. The programming part is made in the C++ programming language in the ROS framework that is working on the Linux operating system. We have also made some experimental measurements, where we can see the actual movement accuracy of the OWI-535 robotic arm.

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