Research on Inverse Kinematics and Block Grasping Techniques for Six-Axis Robotic Arms

Nowadays, large to a variety of factories and aerospace fields, small to mechanical toys, robotic arm has widely used in all works of life. Because of the interest of robotic arms, during the summer vacation, we did some research on the robot arm in order to better understand the operating principle of the robot arm and how to execute the task. This paper discusses the body frame and kinetic principles of a six-degree swivel manipulator arm. We confine to the High-Level APIs that ROS provides and focus this article on the analysis of mechanical design in a robotic arm using inverse kinematics theories. These theories not only help us recognize what goes on in the movement patterns of a robot arm but also for its well-considered control. There are unavoidable slight deviations in the calculation of inverse kinematics and the catching of objects. Even though, through some theories and program, we have already manipulate the robotics to finished some tasks.