Abstract
In this work, the workspace and inverse kinematic problems of the third-class RRS manipulator with three degrees of freedom of motion are presented. An interactive teaching and learning software package called GIM is presented for trajectory and workspace planning for a 3DOF RRS manipulator. In this work, we can use a simple approach, which assumes that the first link is directed to the desired location. Thus, we can find values of q1, q2 and q3 that minimize the error to find the configuration that minimizes the placement error. One way to do this is to use an optimization algorithm such as gradient descent or a genetic algorithm. The optimization algorithm varies the values of q1, q2, and q3 and calculates the location error for each set of values. The algorithm then adjusts the values of q1, q2, and q3 in a direction that minimizes the positioning error and repeats the process until the error is minimized. Finally, we construct the solution graphs, construct the equations q1, q2, q3 and complete the inverse kinematics problem.