SCORBOT arm control using pseudoinverse jacobian control for Bézier path

The kinematics of manipulators represents a fundamental challenge in the field of robotic automatic control. This challenge involves transitioning between Cartesian space and combinatorial space. The kinematic equations governing motion are formulated using the Denavit-Hartenberg (D-H) notation. This paper introduces a method for the inversion of a SCORBOT ER-V plus manipulator, aimed at meticulously analyzing the arm's movement from one spatial point to another. To implement this solution, it is necessary to identify only the starting and ending points in space, along with the geometric constraints of the manipulator. The SCORBOT-ER V plus is a straightforward top-bottom robot featuring five revolute joints, recognized for its reliability and safety, particularly in laboratory and training environments. This experiment provides students with practical experience in robotics, automation, and control systems, highlighting the principles related to the operation and causation of various phenomena. The Python programming language is utilized to develop a mathematical model that complies with a defined set of constraints and guidelines. The analysis of object motion demonstrated that the output from the Python script closely aligned with the actual measurements obtained from the robotic arm. Differential movement is employed as a technique to analyze and characterize motion at different points of the robot, thereby facilitating the examination of robotic movement over short durations. This paper discusses both forward modeling and inverse kinematics within the realm of robotics. The traditional D-H model is applied to create the mathematical framework essential for determining and assessing the position of the end-effector in a 5-Degree-Of-Freedom (5DOF) robot, which will then be used to calculate the necessary joint configurations. Finally, we present the results derived from this experiment.