1. Mitsubishi robot arm

2. What is the Kinematic?
 Forward kinematics uses the joint parameters to compute the configuration of the chain.
inverse kinematics reverses this calculation to determine the joint parameters that achieves a desired configuration.

3. What is the Inverse Kinematics
Inverse kinematics refers to the use of the kinematics equations of a robot to determine the joint parameters that provide a desired position of the end-effector

4. What is the Inverse Kinematics
Kinematic analysis is one of the first steps in the design of most industrial robots. Kinematic analysis allows the designer to obtain information on the position of each component within the mechanical system

5. Analytical Inverse Kinematics with Body Posture Control

6. What is solution

7. What does the paper do?
This paper studies and implements the inverse kinematics.
Moreover, the FPGA-implementation of inverse kinematics for two type’s robot manipulators is presented.

8. What is robot manipulator?
A robot manipulator is composed of a serial chain of rigid links connected to each other revolute or prismatic joints.
A revolute joint rotates about a motion axis
A prismatic joint slide along a motion axis.

10. (1)
IK formulations
(2)
(4)
(5)
(6)
(7)
(8)

11. The parameters of robot manipulator‘s
Table 2.The parameters robot manipulator‘s

12. The Implementation in FPGA
The implementation of inverse kinematics, we use parallel processing method,
it is resource consumption in FPGA. The FPGA chip adopts herein is an Altera DE2 Cyclone II EP2C35F672