Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink:

The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and off- line programming. The trajectory planning of redundant manipulators is a very active area since many tasks require special characteristics to be satisfied. The importance of redundant manipulators has increased over the last two decades because of the possibility of avoiding singularities as well as obstacles within the course of motion. The angle that the last link of a 2 DOF manipulator makes with the x-axis is required in order to find the solution for the inverse kinematics problem. This angle could be optimized with respect to a given specified key factor (time, velocity, torques) while the end-effector performs a chosen trajectory (i.e., avoiding an obstacle) in the task space.