*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 <sup>1</sup> and Lukáš Hrivniak <sup>1</sup>**


**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 matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model's simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model's existence in those three environments has enabled us to compare the data and check the models' structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

**Keywords:** Matlab; CoppeliaSim Edu; V-Rep; SolidWorks; kinematics; inverse kinematics (IK); manufacturing technology; modular robots; coordinate transformation
