Inverse Matrix Kinematics of the 5R Mitsubishi Movemaster RV-M1 Manipulator

Abstract

The solution of the inverse kinematics of the Movemaster RV-M1 manipulator is documented by the geometrical or projections method of the manipulator to different planes. This method was recommended for the case of cinematically uncoupled robots. The present article shows an inverse kinematics solution for the RV-M1 manipulator through an inverse transformation technique in which manipulator projections are not required, which saves time for the analysis. The results were graphically validated and geometrically compared with results reported in existing literature