Comparison of 4 DOF Arm Robot for Trajectory Planning with 3rd and 5th Polynomial Orders

Abstract

Technology's concept of automation has a big impact on life. One of the applications of this technology is the robotic arm. In this study, a 4 DOF (Degree of Freedom) arm robot with a microcontroller is tested for its movement results using the inverse kinematic method for calculating the angle of the robot joint and using a polynomial order with a reference point for the robot trajectory. The order of the polynomials used is 3rd and 5th order polynomials. Comparing the two polynomial orders is used to determine the best robot movement performance. The results are an error value for the accuracy of the robot's motion to move the object, respectively 0.5% and 0.9% on the x-axis, while 0.1% and 0.5% on the y-axis. The resulting average speed is 0.0402 m/s and 0.0431 m/s. The trajectory curve formed has a stable up and downtrend in each polynomial order.