• Sagar K. Soni
• Vishal A. Pandya

Robot technology is advancing rapidly, which leads to moving of industry from automation to robotization. The serial link manipulator-type robot is highly versatile for performing various industrial tasks. Closed form solution of inverse kinematics for all robot configuration is not possible. Therefore, to eliminate this problem jacobian based iterative method used for inverse kinematics. In this paper present inverse kinematics algorithm for damped least square method (DLS), pseudoinverse and jacobian transpose method. These methods compare based on approximation error and behavior near singularity. Inverse kinematics algorithm develop in MATLAB Simulink and Simulated in MATLAB Simscape environment. For simulation, 3D CAD model of robotic arm is prepared in CREO 3.0

Forward kinematics, Inverse kinematics, MATLAB Simulink, Simscape, Jacobian, Damped least square method

"5-DOF Manipulator Simulation based on MATLAB/Simulink methodology", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 5, page no.387-392, May-2019, Available :http://www.jetir.org/papers/JETIR1905659.pdf

"5-DOF Manipulator Simulation based on MATLAB/Simulink methodology", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 5, page no. pp387-392, May-2019, Available at : http://www.jetir.org/papers/JETIR1905659.pdf