Simulation on trajectory planning of KUKA LBR4+ robot via three points using VREP simulator

Daud, Mujibur Rahman (2019) Simulation on trajectory planning of KUKA LBR4+ robot via three points using VREP simulator. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In this present age, robots are widely used in the industries and factories to manufacture cars, mobile phones, parts for airplane and foods. These robots require a trajectory planning method that can help it move efficiently and precisely while doing its tasks. Thus, this project is inspired by the blooming sales of robots worldwide. This project is not only about finding a method to move the KUKA LBR4+ robot but also need to find the trajectory planning method that can produce non-colliding path. The aims of this project are to design an algorithm for moving the KUKA LBR4+ robot between three points with and without obstacles and to analysed the trajectory obtained by using VREP software. The literature review that has been done shows the different types of obstacle avoidance trajectory planning technique and these researches helps to guide in making the objectives of this project. There are two experiments been conducted in this project where one of the experiment focuses on the robot’s trajectory planning and the other one focuses on the robot’s trajectory planning while avoiding obstacles. The trajectory planning method for the robot uses the inverse kinematics calculation module in the VREP software. The result from the simulation of the KUKA LBR4+ robot motion between three points is used to plot graphs of joints angular displacement against time, joints angular velocity against time and joints angular acceleration against time. It is concluded that the robot in this project managed to generate an optimised path that do avoid obstacles while completing it tasks in the shortest time possible.

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