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  1 - Solution of Inverse Kinematic Problem of a 2DOF Robot Using Decomposition Method
  Gh Asadi-Cordshooli A. Vahidi R. Norouzi
  The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asf More

  The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asfunctions of the desired position of the end effecter and the length of the arms. The accuracyof the solutions can be increased up to desired order. The solutions haven’t any singularity.The problem must be solved once for any structure and the results can be used for any pathand finally, the method is fast and simple to understand Manuscript profile