Obstacle-free trajectory planning of a three-axis articulated robot for pick-and-place operation

Abstract

Most industrial applications require a robot to move materials, parts etc. from one place to another within the workspace of the robot. Again there may be mul tip 1e objects within the work space. In such case an obstacle free trajectory planning system must be developed with the robotic system. The subject of obstacle-free trajectory planning is relatively new. within the past few years only a handful people have been actively working on this topic. This thesis describes trajectory planning system for a threeaxis articulated robot. Here a linear interpolation technique is used to generate the trajectory from pick point to place point. For solution of the arm equation a simple geometric approach is used. As a practical demonstration, the developed trajectory planning system has been applied on a Fischertechnik robot to grasp a specified chessman and move it from one square. to another on the chessboard.