Simulation of a 3-DOF Robotic Arm Pick and Place Task Based on Inverse Kinematics

DOI

Description

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.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390866967968669568
  • DOI
    10.5954/icarob.2025.os4-3
  • ISSN
    21887829
  • Text Lang
    en
  • Data Source
    • JaLC
  • Abstract License Flag
    Disallowed

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