O.S. Gerasin, O.E. Melnykova, I.D. Verkalets, S.M. Havrylko, V.I. Yaremak
Èlektron. model. 2026, 48(3):111-126
ABSTRACT
This work is devoted to modeling the kinematics of a three-link robotic manipulator using the Matlab Robotics Toolbox and to the development of an information-computing complex for the automated solution of kinematic analysis problems. The software application generates a kinematic model based on the Denavit—Hartenberg parameters, with the ability to vary them and visualize the changes made. During the research, a working space was defined for various configurations, and an algorithm for solving the inverse kinematic problem was tested. It was established that an incorrect choice of the iteration parameter leads to the misclassification of 18—70 % of points as unreachable due to a violation of the convergence condition of the gradient descent method, whereas for the optimal value, the proportion of such points does not exceed 15 % and corresponds to singular or near-singular configurations. The obtained results confirm the effectiveness of the proposed approach and its suitability for application in the early stages of robotic system design.
KEYWORDS
manipulator kinematics, information-computing complex, forward and inverse kinematics, motion trajectory, gradient descent method.
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Received 18.03.2026;
after revision 30.04.2026