solution of inverse kinematic problem of a 2dof robot using decomposition method

The inverse kinematics problem of a two degree of freedom (2dof) planar robot arms is solved using adomian’s decomposition method (adm), after converting to a system of two nonlinear algebraic equations. the advantage of the method is that it gives the solutions as functions of the desired position of the end effecter and the length of the arms. the accuracy of the solutions can be increased up to desired order. the solutions haven’t any singularity. the problem must be solved once for any structure and the results can be used for any path and finally, the method is fast and simple to understand.