Inverse kinematics analysis of the three-legged reconfigurable spherical robot II

The reconfigurable spherical robot called “RSR” is a transformable robot that store its three legs in the spherical shell. The RSR II is an ongoing work developed at King Mongkut's University of Technology North Bangkok. At deployment, the robot can be transformed into a mobile form of dual interconnected hemispheres. Two legs are kept on one side of the hemisphere and one leg is on the other. Each leg is identical and has been designed with four degrees of freedom for good mobility. This paper represents the inverse kinematics analysis of one leg of the RSR II. The use of Denavit-Hartenberg (DH) method was illustrated to analyze for the forward kinematics of the leg. The solution of the closed form inverse kinematics of the leg was explained as well as the trajectory design for each leg.