4-Point Minimal Pick & Place Trajectory Design in Robotics
Satvik M. Kusagur1, Arun Kumar G.2, Spoorthi Jainar3, T.C.Manjunath4, Pavithra G.5
1Satvik M. Kusagur, Research Scholar, Rani Channamma University, Belagavi (Karnatak), India.
2Arun Kumar G., M. Tech, Department of ECE, JSS Academy of Technical Education, Noida (Uttar Pradesh), India.
3Spoorthi Jainar, M. Tech, Department of ECE, JSS Academy of Technical Education, Noida (Uttar Pradesh), India.
4T.C. Manjunath, Research Scholar, Rani Channamma University, Belagavi (Karnatak), India.
5Pavithra G., M. Tech, Department of ECE, JSS Academy of Technical Education, Noida (Uttar Pradesh), India.
Manuscript received on 05 August 2019 | Revised Manuscript received on 12 August 2019 | Manuscript Published on 26 August 2019 | PP: 801-806 | Volume-8 Issue-9S August 2019 | Retrieval Number: I11290789S19/19©BEIESP | DOI: 10.35940/ijitee.I1129.0789S19
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open-access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Motion planning in robotics plays a very important role in the movement of objects from the source to the destination. Robots are classified according to motion control as PNP, PTP and CP robots. Hence, there are 3 basic types of trajectory motions + 1 trajectory which is the shortest path between two points in the 3D space. This type of motion or trajectory is exhibited by PNP robots. In this paper, we develop the theoretical background along with the mathematical formulation relating to the design & development of a 4-point minimal pick & place trajectory from the source to the destination during the transportation of an object in the 3 dimensional Euclidean space R3.
Keywords: Robot, Motion planning, Trajectory, Source, Destination, 4-Point, Pick, Lift-off, Set-down, Place, Obstacle.
Scope of the Article: Robotics and Control