Solving inverse kinematics problem of robot arm with adjustable Snap-width A-star algorithm

Abstract

Playing an important role in our everyday life, robot arms need the controlling systems for effectively moving each part in the desired movement, and their manipulation varies across their physical structures. To be precise, arms of the industrial robots used for welding consist of the sequence of jointed arms called kinematic chains and the arm tip called end effector. Such construction typically leads to problems about inverse kinematics in terms of its calculation for adjusting the angle size of each joint to have the end effector reach the desired target accurately and to minimize the movements in each joint. Therefore, this paper has presented a solution for those problems about inverse kinematics based on gradient following procedure and A-star algorithm in order to achieve the best practice. To suggest a solution, this paper has concerned about the accuracy and the minimum movement by carrying out a simulation on the simulative model with MATLAB program. According to the result, it was possible to calculate the proper degrees of the joint angles for creating the most accurate reach range of the end effector.