Kinematics of the 3RRR Robotic Arm with Fingers

Abstract

In this paper, forward and inverse kinematics algorithms for a 3RRR robotic arm with fingers are proposed. This algorithm includes coordinates transformation derived from kinematics and inverse kinematics for motion control. The robotic arm is equipped with three rotational joints. The control software uses Visual Studio C# in desktop as the control platform and C in Arduino as the dynamic simulation and interface control of the robotic arm. Finally, a flowchart is given to show the implementation of the proposed algorithm. The Visual Studio C# platform for the robot can real-time follow the record route on the panel of the laptop to accomplish the route navigation. Experiments include the operating platform and a robot for analyzing control performance.