Research on the inverse kinematic algorithm of the robot arm of the minecart

Abstract

A reverse kinematics solution algorithm for the robot arm of the minecart is proposed based on the structure and motion characteristics of the robot arm, the geometric method is combined with the algebra method, and the trajectory of each joint point on the mechanical arm is calculated inversely by using the motion trajectory of the roller on the mining wheel to reverse-calculate the trajectory of each joint point on the mechanical arm, and the joint angle of the mechanical arm is obtained according to the trajectory of each joint point. The results are compared and analyzed through the Robots Toolbox toolbox in Matlab to verify the correctness and validity of the inverse calculation results. It lays a foundation for future research on key issues such as path planning and trajectory tracking control of the robot arm of the minecart.