Abstract

This paper proposes an intelligent control strategy for enabling a robotic arm to grasp and place water-filled bottles without spilling any of the water. First, the system architecture of a five-degree-of-freedom robotic arm and its mechanical design are introduced. Second, both the forward and inverse kinematics of the robotic arm are derived. The study conducted an experiment in which the designed and implemented robotic arm could grasp a bottle of water and move it to another place. However, if the acceleration or the orientation of the robotic arm were inappropriate, the water in the bottle may be spilled during the movement. Therefore, the proposed strategy applies an inertial measurement unit for obtaining relevant information. According to the obtained information, the velocity curves of each joint could be optimized by adaptive inertia weight and acceleration coefficients particle swarm optimization. Finally, the experimental results demonstrated the feasibility and effectiveness of the proposed method.

Highlights

  • In recent years, industrial automation has attracted attention worldwide and has been actively promoted

  • Robots play an essential role in industrial automation

  • Industrial robots primarily exist in the form of robotic arms

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Summary

Introduction

Industrial automation has attracted attention worldwide and has been actively promoted. Robots play an essential role in industrial automation. Software and hardware related to robots have been upgraded constantly, and robots with incrementally superior capacities have been invented. Robots can assist humans in tasks or conduct hazardous tasks for humans. Industrial robots primarily exist in the form of robotic arms. In the early stage of commercial robotics, robotic arms were used in various industrial manufacturing tasks, and currently, their application scopes have expanded. From the deployment of the first robotic arm to current industrial robots, related technology has improved and still continues to improve. Academics have published numerous studies on robotic arms. Various technology companies devote effort and resources to researching and developing robotic

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