Journal of Harmonized Research in Engineering

TRAJECTORY PLANNING OF 6 DOF ARTICULATED ROBOTIC ARM FOR LOADING AND UNLOADING OPERATIONS

Abstract

Author(s): Prafull Kumar Tembhare, Ashish Kumar Khandelwal

This paper represents the trajectory planning for loading and unloading operations by articulated robotic arm.6-Axes Robotic Arm is a project based on designing of the robot arm with more n umber of axes. The arm has six axes and six degrees of freedom. The six degrees of freedom allows the robot to move in all the three dimensions. Servo motors are used as controlling elements for providing the different degrees of freedom to the robot arm. 6-axes robotic arm is useful for industrial applications like welding, painting, assembly, pick and place, product inspection and testing with great accuracy. Robotic arm has been widely used in manufacturing industry as part of automation system. Typical applications of robots in industry include welding, painting, assembly pick and place, packaging and palletizing, product inspection and testing. The effectiveness of the proposed analysis was verified by comparing simulation and experimental results. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of the entire path planning algorithm. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations with a 6-DOF manipulator.