Solution of Inverse Kinematic Problem of a 2DOF Robot Using Decomposition Method

Abstract

The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms is<br />solved using Adomian's decomposition method (ADM), after converting to a system of two<br />nonlinear algebraic equations. The advantage of the method is that it gives the solutions as<br />functions of the desired position of the end effecter and the length of the arms. The accuracy<br />of the solutions can be increased up to desired order. The solutions haven't any singularity.<br />The problem must be solved once for any structure and the results can be used for any path<br />and finally, the method is fast and simple to understand