Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications

• Published in: Revista Facultad de Ingeniería
• Main Authors: Griselle Salazar, Oscar Loyola, Eduardo Villaroel, Claudia Sandoval-Yañez
• Format: Article
• Language: English
• Published: Universidad Pedagógica y Tecnológica de Colombia 2024-09-01
• Subjects: MPC; inverse kinematics; robotic manipulators
• Online Access: https://revistas.uptc.edu.co/index.php/ingenieria/article/view/18055

The coordination and synchronization of two physical robots with two degrees of freedom (3-DOF) is a critical challenge in collaborative robotics, particularly in applications where precise, simultaneous movement is required. This paper addresses the limitations of traditional inverse kinematics (IK) methods, which, while effective in controlled environments, lack flexibility and adaptability in dynamic settings. We propose a hybrid approach combining IK with Model Predictive Control (MPC) to improve synchronization and trajectory accuracy in a dynamic environment. Our methodology involves analyzing the performance of both elbow-up and elbow-down configurations in terms of synchronization error, trajectory deviation, and arrival times. The results demonstrate that the elbow-up configuration, particularly when enhanced with MPC, provides superior synchronization and reduced trajectory error, making it a preferable option for complex, coordinated tasks in robotics. This study contributes to the ongoing development of adaptive, robust synchronization techniques for multi-robot systems, with implications for various industrial and research applications.