A Review on Inverse kinematics Solution of Robotic Arm Movement

Abstract— Across industries, ROBOTS are frequently
utilized. A significant part of the numerous uses of robotics
and many countries deciding that whether it’s possible to
give identity to the anthropomorphic robots. Different
industries hospitals are using the robots. The robots are
not limited to these two applications even different sectors
are using the different robots according to their needs.
Mostly robots are performing the tasks which are difficult
for human being. The basic robotic arms, known as three
link manipulators, are still in use in micro-to-macro
applications, such as chip production. In the field of
robotics, robotic instrumentation is essential because
without sensors, actuators, and detectors, robots cannot
interact with their surroundings. In this paper soft
computing also discussed in detail. In this paper the
disturbance occur in the closed loop also being discussed.
There have been tests, comparisons, and simulations
done.GA doesn't have to be an expert in the system. Even
in cases when the population is quite big, the evolutionary
process converges too soon. The robotic arm reaches the
desired location within the simulated time, demonstrating
good performance. Since the evolution function thoroughly
tests all potential input spaces, the performance is ideal
across the board. Soft computing help in trajectory
planning and obstacle avoidance has been discussed in
detail. The role of hybrid techniques also discussed. The
dynamic nature of the robot also been discussed in detail in
this paper. The paper has been sub parted in 9 parts and
the modelling of the 2,3,and 5 DOF robots has been
discussed din detail.
Keywords— End-effector, Robots, manipulator, kinematics