Role of Kinematics in Robotic Arm Movement

Gurjeet Singh

Abstract: ROBOTS are commonly used in the industries. In many field applications where, technical support is required is, man handling is either dangerous or is not possible. In such situation, robotics arm manipulator is commonly used. They are on the great demand to speed up the automation process. Three link manipulators are the fundamental robotics arms, which are still used in micro to macro scale applications viz. chip fabrication to huge mechanical actuators used in the chemical process. Robotic Instrumentation plays vital role in robotics world, without these sensors, actuators, detector, robots are not able to interact with the environment. In this paper, we present optimal control for movement and trajectory planning of a various degree of freedom robots using soft computing techniques. We have evaluated and show comparative analysis of various degree of freedom robotic arm to compensate the uncertainties like; Movement, friction and settling time in robotic arm movement. this paper describes genetic algorithms, which is designed to optimize robot movement and trajectory. Though the model joints, it converges too quickly even if the population is very large. The result also shows the complete trajectory planning with soft computing and also demonstrating the flexibility of this technique. In the developed genetic algorithms in order to obtain the optimal angular displacement for the robotic arm in the whole workspace, elitism has been retained from the previous generation to the next. Simulations, testing and comparison have been carried out .GA does not need a complete knowledge of the system. Evolutionary process converges too quickly even if the population is very large. The performance is good, the robotic arm moves and reaches the target position within the simulation time. The performance is optimal is all over possible input values as the evolution function exhaustively test the possible input spaces. It is concluded that GA and FL are practical and effective method for achieving optimization of robotic arm angular displacements. On the other hand, it also requires less knowledge of the system description to apply this technique over the artificial intelligence technique like ANN. This algorithm can be extended to more degree of freedom robot with very little modification.

Keywords: Artificial intelligence, kinematics, Robotics arm, Neural networks, Fuzzy logic

How to Cite?: Gurjeet Singh, "Role of Kinematics in Robotic Arm Movement", Volume 15 Issue 8, August 2026, International Journal of Science and Research (IJSR), Pages: 1280-1288, https://www.ijsr.net/getabstract.php?paperid=SR26728104249, DOI: https://dx.doi.org/10.21275/SR26728104249

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