Design and Implementation of an Autonomous Robot Manipulator for Pick & Place Planning

Abstract

This paper focuses on advancement of an autonomous robot manipulator for pick and place applications using Artificial Intelligence Technique. The mobile robot carries a four Degree of Freedom (DOF) robotic arm for picking a particular object from a given initial position to the required target position in an unknown static environment, while tackling obstacles and implementing path planning algorithm using artificial intelligence technique. The proposed artificial intelligence technique employs the optimization strategy, based on a novel meta-heuristic approach for mobile robot path planning. The mobile manipulator involves the use of infrared, ultrasonic sensors for detecting obstacles, microcontroller for artificial intelligence software and geared motors & servo motors for motion locomotion. The effectiveness of the method was tested and verified by via simulation mode on four different trajectories. From the simulation results, it was found that approximately path length and elapsed time of triangular shape, conical shape, cubical shape&S-shapeobstacles environments are 70.22, 70.92, 71.29 & 70.36 pixels and 117.93, 73.94, 122.86 & 117.87 seconds respectively.