| Title: | OS4-3 Simulation of a 3-DOF Robotic Arm Pick and Place Task Based on Inverse Kinematics |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 110-113 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS4-3 |
| Author(s): | Songyang Mei, Miao Zhang |
| Publication Date: | February 13, 2025 |
| Keywords: | Robotic arm, MATLAB GUI, Pick and place, Inverse kinematics |
| Abstract: | This paper proposes a simulation method for grasping and placing a 3-DOF robotic arm based on inverse kinematics. Through the MATLAB GUI, the user enters target coordinates, computes the joint angles by the inverse kinematics geometric approach and simulates the motion path to achieve the task operation. In this approach, the robotic arm can reach specified positions precisely, which reduces complexity and error. The position error is calculated through a comparison of the target and the actual position. The simulation results show that the robot arm achieves a small average error across all five experimental groups. The maximum error remains within a reasonable range, which confirms the accuracy of the method in grasping and placing tasks. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS4/OS4-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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