7 DOF Manipulator Construction and Inverse Kinematics Calculation and Analysis using Newton-Raphson Method

This paper designs two types of 7 DOF Manipulators and describes inverse kinematic calculations using Newton- Raphson Method. In addition, the hardware features point that emerged from the design process of two types of manipulators are explained. In the design section, hardware, communication, Denavit-Hartenberg parameters, and features that emerged during the design process will be explained, and in the 7DOF manipulator inverse kinematics calculation section, the inverse kinematics of two types of manipulators will be explained using Newton-Raphson method. Finally, we conclude with the inverse kinematic results of the two manipulators obtained using the Newton-Raphson method.