Forward Kinematic and Inverse Kinematic Analysis of A

3-DOF RRR Manipulator

Xingyu Qiu

University of Connecticut, Storrs, CT 06268, United States

[email protected]

Abstract. The increasing need for precise and multifunctional robotic systems in
industries such as assembly, welding, and painting shows the importance of
kinematic analysis. This paper aims to study and explain the kinematic properties of
a three-degree-of-freedom (3-DOF) manipulator, which encompasses a revolving
disk like the foundation and two revolving joints, also called the rotating joints. By
analyzing forward and inverse kinematics, this paper aims to understand better and
control the nature of movement shown by this robot arm. Forward kinematics
entails calculating the values of the location and orientation of the end effector in
connection with particular joint parameters. On the other hand, inverse kinematics
aims to find the specific joint parameters to achieve a specific end-effector position.
This paper uses a mathematical model and computational algorithms to solve the
kinematic equations, allowing the manipulator to move precisely inside its domain.
By comparing detailed models of transformation matrices used, the robot arm’s
working movement is entirely predicted and regulated. The resulting conclusion
drawn from this critical analysis is that the proposed solutions lead to a significant
leap in the theoretical understanding of the movement of robots and have efficient
implications for a precise working automation context. Therefore, this basis creates
more paths for developing advanced robot control algorithms.

Keywords: Forward Kinematics, Inverse Kinematics, Three-degree-of-freedom,

Motion Control

1 Introduction

In the changing industrial environment, the automation sector, specifically robotic arms,
plays a critical role in facilitating production efficiency and accuracy. The increasing use
of robotics in assembly, welding, painting, and other complex processes raises the need
for enhanced apparatus and control systems. Therefore, to make robotic arms more
precise and flexible, kinematic analysis should be addressed. The assessment of how such
mechanical devices are designed and operated provides general ideas regarding the
prerequisites and typical elements of the current robotic arms most suitable for the modern

© The Author(s) 2024

Y. Yue (ed.), Proceedings of the 2024 International Conference on Mechanics, Electronics Engineering and
Automation (ICMEEA 2024), Advances in Engineering Research 240,
https://doi.org/10.2991/978-94-6463-518-8_50
 Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR 533

manufacturing system’s requirements. One of the central manipulators, which illustrate

the simplicity of the structure, its wide use, and manipulability, is the
three-degree-of-freedom. The risk of the complexity of other types of manipulators with a
greater number of degrees is also avoided, and, thus, the 3-DOF apparatus needs to
become a focus of the recent studies’ estimations. Kinematics, or the branch of the
mechanics in this field, is important as far as making the proper calculations of where or
how a robot should move is concerned. As far as manipulators are limited to a limited
number of DOF, it is possible to choose different angles of the joints and give the position
of the effector and, conversely, find the position of the effector if such angles of the joints
at which the manipulator should reinforce is given.
In recent years, there has been a trend of notable contributions following the rapid
technological advancements in the field of robot kinematics. On one hand, studies such as
that of Huang et al. have presented the design of control systems for pneumatic parallel
mechanisms, which proposed an alternative to a classic PID controller in the form of
synchronized and differential motion control systems. Overall, it can be said that the novel
approach is superior as it allows for more precise control of the robot’s motion [1]. On the
other hand, Liu et al. have put significant efforts into the kinematic calibration of
heavy-duty manipulators which was proposed as achieved through the use of optimization
algorithms, ensuring the necessary precision that is essential for any robot. In the marine
sector, Liu et al. presented the adaptive control systems for maritime propulsion auxiliary
sails, and the proposed solutions can be rated as an overall success as it utilized an
advanced method of precise control based on the adaptive sliding mode control [2]. In
addition, Sheng et al. have developed decoupling strategies for the case of stable 3-DoF
systems, which has also proved to be an efficient way of optimizing the control [3].
Finally, there are many possible applications with plenty of demanding mathematical
challenges, and the above selected articles demonstrate just a handful of them along with
the current status of this subject.
The goal of the present paper is to provide a more in-depth overview of the overall
kinematics of the 3-DOF manipulator, a process that would allow for a better theoretical
and practical understanding of the device’s motion. A broad analysis of both the forward
and inverse kinematics will be conducted in the following research, with the study
utilizing previous discoveries and discoveries in the targeted area to cover the most recent
findings on the topic. The present section will cover the materials used to conduct the
study, with a focus on average base points and minimal mathematical models capable of
describing the treatment in real-world settings. This section will also comment on the
results obtained as the object analysis was completed, and examples of selected points and
solutions should be regarded to illustrate the kinematic solutions’ appropriateness in
practice. And finally, the work will look to make it support the overall field of robotics
and the development of more relative and highly advanced robotic systems in the future.
534 X. Qiu

2 Forward Kinematic and Inverse Kinematic Analysis

2.1 Parameters
The 3-degree-of-freedom (3-DOF) manipulator is a robotics system that consists of two
links and three rotational joints. There is a rotational base which can rotate on the y-axis,
it is connected to the second rotational joint which is connected between the first link and
the base. The third rotational joint is connected to both the end of link 1 and the head end
of link 2. There is an end effector connected to the link 2. Fig. 1 depicts a basic sketch of
the three-degree of freedom (DOF) manipulator. Table 1 shows the parameters of the
manipulator.

Fig. 1. A 3-Dimension Model of the 3-DOF Manipulator (Photo credited: Original)

 Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR 535

Table 1. The Parameter of Manipulator

The Length of Link 1 L1 = 0.5 m
Physical Dimensions The Length of Link 2 L2 = 0.5 m
The Height of Base H1 = 0.1 m

The Coordinate System of Base [x0, y0, z0]

Coordinate Systems The Coordinate System of Joint 1 [x1, y1, z1]
The Coordinate System of Joint 2 [x2, y2, z2]

The Coordinate System of End Effector [x3, y3, z3]

The Angle of The Base θ1
Variables The Angle of Joint 1 θ2
The angle of Joint 2 θ3

2.2 Forward Kinematic Analysis

Determine the position and the orientation of the manipulator, the rotation matrices and
transformation matrices are used and shown in equations (1), (2), (3), (4), (5), (6).

1 0 0 0
0 𝐶𝛼 𝑆𝛼 0
Rotx, α 1
0 𝑆𝛼 𝐶𝛼 0
0 0 0 1

𝐶𝛽 0 𝑆𝛽 0
Roty, β 0 1 0 0 2
𝑆𝛽 0 𝐶𝛽 0
0 0 0 1

𝐶𝛾 𝑆𝛾 0 0
𝑆𝛾 𝐶𝛾 0 0
Rotz, γ 3
0 0 1 0
0 0 0 1
536 X. Qiu

1 0 0 𝑎
Transx, a 0 1 0 0 4
0 0 1 0
0 0 0 1

1 0 0 0
Transy, b 0 1 0 𝑏 5
0 0 1 0
0 0 0 1

1 0 0 0
Transz, c 0 1 0 0 6
0 0 1 𝑐
0 0 0 1

A commonly used method to convert a selecting frame in robotics is called the

Denavit-Hartenberg convention [4]. In this convention, Ai is shown as the result of four
fundamental developments. (equations (1), (2), (3), (4), (5), (6)) as homogeneous
transformations in equation (7).

𝐴𝑖 𝑅𝑜𝑡𝑧, 𝜃𝑖𝑇𝑟𝑎𝑛𝑠𝑧, 𝑑𝑖𝑇𝑟𝑎𝑛𝑠𝑥, 𝑎𝑖𝑅𝑜𝑡𝑥, 𝛼𝑖 (7)

Forward kinematics aims to use the manipulator's joint variable values to determine the
end effector's location and orientation. To input joint variables, a set of DH parameters ai,
di, αi, θi is given in Table 2. Fig. 2 shows the coordinate systems of each joint and the end
effector.
ai = distance from the point where the xi and zi-1 axes intersect to oi along xi.
di = distance from oi-1 to the point where the xi and zi-1 axes connect along zi-1. di is
variable if joint i is prismatic.
αi = the angle measured about xi between zi-1 and zi.
θi = the angle measured about zi-1 between xi-1 and xi. θi is variable if joint i is a
revolute joint [5].
 Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR 537

Fig. 2. The Coordinate Systems of Manipulator (Photo credited: Original)

Table 2. DH Parameters of Manipulator

Link ai αi di θi
1 H1 90 0 θ1

2 L1 0 0 θ2

3 L2 0 d3 θ3
Each transformation matrices (A1, A2, A3) are given in equations (8), (9) and (10), and
the forward kinematic result T30 is given in equation (11). The equations of forward
kinematic of the 3-DOF manipulator are shown in Table 3.

𝐶1 0 𝑆1 0
𝑆1 0 𝐶1 0
𝐀𝟏 8
0 1 0 0
0 0 0 1
538 X. Qiu

𝐶2 𝑆2 0 0
𝑆2 𝐶2 0 0
𝐀𝟐 9
0 0 1 0
0 0 0 1

𝐶3 𝑆3 0 0
𝑆3 𝐶3 0 0
𝐀𝟑 10
0 0 1 𝑑3
0 0 0 1

𝐶1 𝑆2 𝑆3 𝐶1 𝐶2 𝐶3 𝐶1 𝐶2 𝐶3 𝐶1 𝑆2 𝐶3 𝑆1 0
𝑆1 𝑆2 𝑆3 𝑆1 𝐶2 𝐶3 𝑆1 𝐶2 𝑆3 𝑆1 𝑆2 𝐶3 𝐶1 0
𝑻𝟎𝟑 11
𝐶2 𝑆3 𝑆2 𝐶3 𝑆2 𝑆3 𝐶2 𝐶3 0 0
0 0 0 1

Table 3. Forward Kinematic Equations

r11 = cos(θ1)sin(θ2)sin(θ3) + cos(θ1)cos(θ2)cos(θ3)

r12 = -cos(θ1)cos(θ2)cos(θ3) - cos(θ1)sin(θ2)cos(θ3)

r13 = sin(θ1)

r14 = 0

r21 = -sin(θ1)sin(θ2)sin(θ3) + sin(θ1)cos(θ2)cos(θ3)

r22 = -sin(θ1)cos(θ2)sin(θ3) - sin(θ1)sin(θ2)cos(θ3)

r23 = -cos(θ1)

r24 = 0

r31 = cos(θ2)sin(θ3) + sin(θ2)cos(θ3)

r32 = -sin(θ2)sin(θ3) + cos(θ2)cos(θ3)

r33 = 0

r34 = 0

r41 = 0
 Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR 539

r42 = 0

r43 = 0

r44 = 1

2.3 Inverse Kinematic Analysis

A geometric approach is used to solve the inverse kinematic problem for a 3-DOF RRR
manipulator. Since the manipulator has a frame rotating on the base, the problem is
reduced from 3D to 2D and converted to a k-z coordinate system. There is substantial
research that shows that geometric methods are more effective at reducing computational
burden without losing the accuracy of the kinematic analysis of robotic systems. Craig
discusses mechanics and control in robotic systems, which provides several avenues for
the application of geometric methods [6]. And Siciliano et al. provide comprehensive
work on modeling, planning, and controlling robotics [7]. Latombe (1991) explores robot
motion planning extensively [8]. These advanced researches can be combined with
inverse kinematics of geometric methods to realize efficient path planning algorithms,
control algorithms of robot systems, and force analysis of robot joints. The system is
displayed in Fig. 3. Geometric techniques are well-recognized for their efficiency and
optimization of computational burden along with the higher degree of precision required
for kinematic analysis of robots. Objective references include the study by Craig, which
develops the mechanics and control in robotics, Siciliano et al., which provides details for
modeling, planning, and control in robotics; and again Latombe, that studies motion
planning in detail.

Fig. 3. 2D Representation of 3-DOF RRR Manipulator (Photo credited: Original)

540 X. Qiu

From the converted coordinate system, the variable ‘r’ and θ1 are represented in equations
(12) and (13) below,

r = 𝑘2 𝑧2 = 𝑥2 𝑦2 𝑧2 (12)

1 𝑦
θ1= 𝑡𝑎𝑛 𝑥
(13)

also, according to Cosine rule, equation (14) is derived below,

𝑟2 𝐿21 𝐿22 2𝐿1 ∙ 𝐿2 ∙ cos 180 𝜃3 (14)

then the equation of 3 is shown in equation (15) below,

1 𝑥2 𝑦2 𝑧2 𝐿21∙𝐿22
𝜃3 𝑐𝑜𝑠 (15)
2∙𝐿1∙𝐿2

from Fig. 3. and from trigonometry principles, angle and angle can be determined as in
equations (16) and (17) shown below,

1 𝑧
𝛼 sin (16)
𝑟

1 𝐿2∙sin 𝜃3
𝛽 tan 𝐿1 𝐿2∙cos 𝜃3
(17)

according to equation (16) and (17), 2 is derived and given in equation (18).

1 𝑧 1 𝐿2 ∙sin 𝜃3
𝜃2 sin tan (18)
𝑟 𝐿1 𝐿2 ∙cos 𝜃3

Therefore, the inverse kinematic results and equations for a 3-DOF RRR manipulator
are given in Table 4.

Table 4. Inverse Kinematic Results and Equations

1
𝑦
θ1 𝑡𝑎𝑛
𝑥

1
𝑧 1
𝐿2 ∙ sin 𝜃3
𝜃2 sin tan
𝑟 𝐿1 𝐿2 ∙ cos 𝜃3
 Forward Kinematic and Inverse Kinematic Analysis of A 3-DOF RRR 541

1
𝑥2 𝑦2 𝑧2 𝐿21 ∙ 𝐿22
𝜃3 𝑐𝑜𝑠
2 ∙ 𝐿1 ∙ 𝐿2

r 𝑘2 𝑧2 𝑥2 𝑦2 𝑧2

3 Discussion

In this paper, the forward kinematics and inverse kinematics of the 3-DOF manipulator
are studied extensively. An accurate mathematical model and an efficient algorithm are
given. The mathematical method mentioned therein requires calculating the exact position
and orientation of the end effector based on the joint parameters provided (forward
kinematics) and using a transformation matrix and computational algorithm to calculate
the joint parameters required to implement the end effector (inverse kinematics). These
methods help improve our understanding of robot motion control and provide assistance
for precise operation in practical applications. The advantage of forward kinematics
analysis is that it is simple to apply, and the position of the end-effector in
three-dimensional space is determined from a known joint Angle. This method is the basis
of predictive modeling of robot path planning and is the most effective solution for joint
parameter control. However, it does not take into account external forces or changes in the
real-world environment, which may affect accuracy in real-world scenarios.
Inverse kinematics solutions, on the other hand, are made more complex by their
nonlinear nature and the possibility of multiple solutions or no solutions at all. In this
paper, the geometric method and trigonometric function are used to simplify the problem,
and the specific configuration of the 3-DOF manipulator is solved effectively. This
method can solve the angle and position of each joint of the robot arm using the geometric
method and the position of the end effector and convert it into a useful formula for the
robot's program.
However, the geometric approach to inverse kinematics, while simplifying the problem,
also limits the flexibility of dealing with more complex configurations or higher degrees
of freedom. The geometric method is more suitable for some robot structures with simple
structures and low precision requirements. This method usually also needs to consider
some structural errors, such as the effects of joint elasticity or mechanical slip. As
suggested by Johnson and Murphy (2019) [9], future research could improve on this by
integrating machine learning techniques to predict potential motion errors and
dynamically optimize control parameters.
With the continuous development of robot technology, the integration of adaptive
control systems and real-time feedback mechanisms explored by Franklin et al. (2018) is
crucial to enhance the adaptability of kinematic models [10]. Going forward, extending
these kinematic analyses to more complex robotic systems, combined with advanced
542 X. Qiu

computational methods, will open up new avenues for research and application in the field
of robotics, providing deeper insights and more efficient solutions.

4 Conclusion

In this paper, the forward kinematics and inverse kinematics of the

three-degree-of-freedom manipulator are studied and calculated deeply, which provides
an accurate mathematical model and powerful algorithm for solving the kinematics
problems. Through the establishment of a detailed mathematical model, the forward
kinematics solution process is deeply studied, and the position and direction of the end
actuator of the manipulator are precisely deduced by using the transformation matrix and
the rotation matrix. This method ensures that the position of the end effector can be
accurately known when the Angle of the relevant joint is known and provides a reliable
method for the path planning and accurate movement of the robot. In addition, this paper
explores a relatively simple inverse kinematic solution that uses geometric and
trigonometric principles to calculate the necessary joint angles to achieve the desired
end-effector position. This approach is crucial because it addresses the nonlinear nature of
the robotic arm's motion and provides a formula for obtaining joint angles, improving the
robot's operational flexibility and accuracy when performing specific tasks. The analysis
and calculation of forward kinematics and inverse kinematics enhance the understanding
of robot motion control and provide a solid theoretical foundation for the precise
operation of robots in various applications. These include industrial automation, medical
robotics, bionic robotics, and other fields that require high precision and adaptability.
Future research could further refine these kinematic models by considering more dynamic
environmental interactions and advanced control strategies, such as machine learning
algorithms, to adapt to real-time changes and further improve the efficiency and reliability
of robotic systems.

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