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A Review on Forward and Inverse Kinematics of Classical Serial Manipulators

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Advances in Engineering Design

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Robots are extensively applied in the service of mankind in almost all sectors of society. Robots are an integral part of industrial automation, medical revolution, and producing material goods. The study of the robot kinematics and dynamics is essential to understand its configuration with respect to its functionality. There are various methods to define the configuration of robots, among which Denavit–Hartenberg (D-H) is widely used. This paper compares both classical D-H and modified D-H methods and discusses their drawbacks, which can be overcome by alternative methods such as the product of exponential method and triangular method. Further, a comparison is made between closed-form and numerical methods. A broad classification of all popularly used inverse kinematics methods is presented. In the last section of the paper, a kinematic singularity is defined, and its importance is discussed.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Institute of Technology, Uttarakhand, Srinagar (Garhwal), Uttarakhand, 246174, India

    Randheer Singh, Vikas Kukshal & Vinod Singh Yadav

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  1. Randheer Singh
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  2. Vikas Kukshal
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  3. Vinod Singh Yadav
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Correspondence to Randheer Singh .

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Editors and Affiliations

  1. Department of Mechanical Engineering, National Institute of Technology Uttarakhand, Srinagar, Uttarakhand, India

    Pawan Kumar Rakesh

  2. Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Apurbba Kumar Sharma

  3. Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Inderdeep Singh

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Singh, R., Kukshal, V., Yadav, V.S. (2021). A Review on Forward and Inverse Kinematics of Classical Serial Manipulators. In: Rakesh, P.K., Sharma, A.K., Singh, I. (eds) Advances in Engineering Design . Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-33-4018-3_39

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  • DOI: https://doi.org/10.1007/978-981-33-4018-3_39

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-33-4017-6

  • Online ISBN: 978-981-33-4018-3

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