Design and Implementation of a 6-DOF Robot Manipulator for Inverse Kinematics Education

Abstract

This research designs and implements a 6-DOF robot manipulator based on an Arduino Uno and SpringRC SR-311 servos as a learning medium for inverse kinematics. A geometric-trigonometric analytical method is used to calculate the angle of each joint from the end-effector target coordinates. A Python interface was developed to serve as both the controller and a comparative 3D visualization tool. Testing was carried out using different target position scenarios. The results show that the IK algorithm works correctly mathematically, but physical deviations occur due to mechanical limitations. The average error in Experiment A was 7.66% (x), 11.38% (y), 9.38% (z), and in Experiment B: 6.34% (x), 5.55% (y), 6.67% (z). The dominant error is caused by servo backlash, link flexibility, and zero-position deviation, rather than algorithmic error. The platform proves effective as a practical learning tool for understanding the relationship between kinematic theory and the limitations of robotics hardware.