Solving inverse kinematics problem of robot arm based on a-star algorithm

Nowadays, the robot arm is widely used. A robot arm includes various components such as links, joints, and arm tip. These components may difference from other robot arm that are according to their designing. The joints are one of the robot arm component that are the rotation motor. These rotation motors need to be controlled for the component collaboration. After system order moved the arm. Then, all of the motors need to move for target position reaching of the arm tip. The Inverse kinematics problem is how to command the movement of each motor. Therefore, this paper has presented a solution for those problems by using gradient following procedure, A-star algorithm, and transformation matrix in order to achieve the best practice. In addition, this paper applied the Snap width constant to increase the performance of proposed method. To suggest a solution, this paper has concerned about the accuracy, the loop of operation, and the minimum movement by carrying out a simulation on the simulative model with MATLAB program. According to the result, it was possible to calculate the proper degrees of the joint angles for creating the most accurate reach range of the end effector. After that, proposed method will apply in the robot arm.