Inverse kinematics of RRR manipulator

Tema ovog završnog rada je bila izvod kinematike manipulatora RRR strukture te jednadžbi inverzne kinematike. Dan je pregled metoda za rješavanje inverzne kinematike te opis problema praćenja unaprijed zadane putanje manipulatora. Opisani su postupci određivanja putanje manipulatora. Pripadajuće jednadžbe kinematike, inverzne kinematike te opis putanje manipulatora implementirane su u vidu računalnog programa.The topic of this final paper was the derivation of the kinematics of the RRR structure manipulator and the equations of inverse kinematics. An overview of methods for solving inverse kinematics is given, as well as a description of the problem of tracking a predetermined path of the manipulator. The procedures for determining the path of the manipulator are described. The corresponding equations of kinematics, inverse kinematics and the description of the path of the manipulator are implemented in the form of a computer progra