applied sciences Article Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules Štefan Ondoˇcko 1, Jozef Svetlík 1,* , Michal Šašala 1, Zdenko Bobovský 2 , Tomáš Stejskal 1, Jozef Dobránsky 3 , Peter Demeˇc 1 and Lukáš Hrivniak 1 1 Department of Manufacturing Machinery and Robotics, Faculty of Mechanical Engineering, The Technical University of Košice, Letná 9, 04001 Košice, Slovakia;
[email protected] (Š.O.);
[email protected] (M.Š.);
[email protected] (T.S.);
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[email protected] (L.H.) 2 Department of Robotics, Faculty of Mechanical Engineering, VSB—TU Ostrava, 17. listopadu 2172/15, 708 00 Ostrava-Poruba, Czech Republic;
[email protected] 3 Department of Automotive and Manufacturing Technologies, Faculty of Manufacturing Technologies with a seat in Prešov, Technical University of Košice, Štúrova 31, 08001 Prešov, Slovakia;
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[email protected]; Tel.: +421-55-602-2195 Abstract: The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates Citation: Ondoˇcko,t.; Svetlík, J.; matching the description of a certain spatial trajectory with an option to test the software potential in Šašala, M.; Bobovský, Z.; Stejskal, T.; future inverse task calculations.