Vertically Sliding Revolute Robotic Arm intended for automated Pick-and-Place Industrial applications

摘要

Attributes such as flexibility and versatility of linear robotic systems guarantee enormous potential in terms of usage to meet the demands of industrial applications such as material handling and pick-and-place. In this study, the Lyapunov-based Control Scheme (LbCS) is used to solve the motion planning and control problem of a linear robotic system consisting of a robotic arm with <tex>$n\in \mathbb{N}$</tex> revolute links affixed to a linear slider that moves vertically along a rail within the confinements of a solid stationary base. The kinematic model of the linear manipulator is developed, and acceleration-based algorithms are utilized to move the slider from an initial position to its target and, secondly, maneuver the articulated arm end-effector to its designated target. Computer simulations are presented to illustrate the effectiveness of the motion controllers. The ability to reposition its base link due to changes in work requirements guarantees that such unanchored mechanical systems can have practical implications in pick-and-place industrial tasks that require process repeatability and increased reachability of the robotic arm.