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Trajectory Analysis
9
of Robot Arm for Obstacle Avoidance
Dr. Vinay V. Kuppast Dr. Devanand D. Chillal M
Department of Mechanical Engineering Department of Industrial & Production Engineering
Basaveshwar Engineering College Basaveshwar Engineering College
Bagalkote-587102, INDIA Bagalkote-587102, INDIA
[email protected] [email protected]

Abstract - Trajectory planning is crucial to the efficient movement. By leveraging simulation tools and traditional
operation of robotic 4 manipulators. This study focuses on mathematical approaches, optimal paths can be generated,
trajectory analysis for a given robotic arm, where the desired ensuring efficient and reliable robot performance in various
trajectory is defined by specific parameters, including initial and industrial applications.
final points for point-to-point control. The initial point is
considered the source, while the final point is the target. The
After going through the available
1 literature survey in the
trajectory is generated to ensure optimal travel of the robotic field of trajectory analysis of the robot arm motion and
arm. Simulations are conducted using Java in the SIMULINK considering the research gap, the present work is focused on to
environment. generate the reference inputs to the motion control system
For both large- and small-scale industries, achieving the which ensures that the manipulator executes the planned
desired orientation and position of robotic manipulators is a trajectories by designing the motion function of each joint of
fundamental concern. The analysis of robot manipulation the arm based on certain tasks to be accomplished by its end
involves two types of kinematic analysis: inverse and forward actuators.
kinematic analysis. In this study, it is focused on developing the Forward Kinematics determine the position and
inverse kinematic model for five and six degrees of freedom
(DOF) robotic manipulators. The motion planning is designed orientation of the robot's end effector based on given joint
and analyzed using Denavit-Hartenberg (DH) parameters to parameters (angles, distances). Inverse Kinematics involves
estimate the desired orientation and position of the end effector. calculating the joint parameters needed to achieve a desired
For solving inverse kinematics, traditional methods such as position and orientation of the end effector. The trajectory
DH notation, iteration, and transformation are employed with generation process focuses on optimizing the path taken by the
joint space trajectory to determine paths for velocity and robotic arm to minimize travel time and energy consumption
acceleration analysis. The Cartesian trajectory is applied to find while maintaining accuracy. The joint space trajectory is
the shortest route, and the transformation matrix for each crucial for defining velocity and acceleration profiles along
intermediate point is obtained. Finally, obstacle avoidance is the path.
demonstrated, with evaluations of distance, speed, acceleration, 10
and angular displacement to identify the shortest path and avoid Using Java in the SIMULINK environment provides a
obstacles. flexible platform for testing various trajectory planning
algorithms. The DH parameter analysis
6 is vital for setting up
Index Terms - Trajectory Planning, Inverse Kinematics, DH the robot's kinematic equations, allowing for precise control
Parameters, Robotic Manipulators, Obstacle Avoidance over its movements.
.
I. INTRODUCTION
II. OBSTACLE AVOIDANCE TECHNIQUES
Course includes ordered locii of factors within the space,
which the robot ought to comply with. Trajectory is a route A. Introduction
with velocities and accelerations in its each factor. A Various algorithms, such as potential fields, visibility
trajectory is a description of a way to observe a path. The graphs, or sampling-based methods, can be integrated to
trajectory making plans is a subset of common hassle this is enhance the robot's ability to navigate complex environments.
navigation or movement planning. The standard hierarchy of Evaluating parameters such as distance, speed, and angular
motion making plans is as follows: Course planning – displacement helps in refining the path for smooth and
producing a possible path from a start point to a goal factor. A collision-free operation. The parental segment [6] should be
course usually includes a fixed of linked way points. given size, length and the angle. Once the parental segment is
Trajectory planning – generating time table for a way to created it helps to move the robot arm. The other segments are
comply with a course given constraints including role, known as child segment. The child segments will move with
velocity, and acceleration. Trajectory following – once the respective to the parental segment. The child segment created
complete trajectory is planned, there needs to be a control with a length smaller to the parental segment. The child
machine that execute the trajectory in a sufficiently accurate segment is made to follow the Parental segment. Once the
manner. Line follower is a machine that may follow a path. parental segment is joined with a child segment, it is called
The direction can be seen like a black line on a surface. It is robot arm, it is consisting of number of segments (joints) is
able to be used in car, business automations, steering, etc. This called tentacles. The arm is stretched from initial point to
study highlights the significance of effective trajectory reach the target point the movement of arm takes place. The
planning in robotic manipulations, emphasizing the use of parental segment helps in movement and rotating of a robot
inverse kinematics and DH parameters for accurate arm. The creation of a Parental and child segment is shown in
Figure 1. These segments help the robot arm in the movement Step 1: Calculate the future position of arm: The arm is to
to reach its final position. continue at the same velocity that of the future point.
Step 2: Checking the future position is on the path: So that it
will be helpful to calculate the distance between the future
position and the projected point of the future position.
Step 3: Finding the projection point and calculating:
Calculating the normal distance between the projection point
and the future point is based on the scalar projection.
Step 4: Tracking the projected point as target: Once it is on the
path it does not require steering of arm of the robot.
The radius of the path and the normal distance between the
Figure 1. Segments of Robot Arm
future point and projected point is shown in Figure 4. The
condition for the future point is should be greater than the
B. Scalar Projection [8]
radius of the path.
The Scalar Projection of a vector {a} on (or onto) a vector
b, also known as the scalar resolute of {a} in the direction of
{b}
Scalar Projection = Vector A . Vector B 8
The scalar projection of vector A on vector B is shown in
Figure 2. ‘a2’ is the normal distance of scalar projection.

Figure 4 Projected Points

D. Path Following Steering Behavior [4]

Path following is implemented here by performing
corrective steering only when the arm begins to head off. A
prediction of the arm future position is made based on its
Figure 2. Scalar Projection
current velocity of the arm (red dot).This predicted future
C. Path Following Principle of Robot Arm position is mapped onto the nearest 3 point (point ‘a’) on the
The path following by a Robot arm is based on the Scalar path spine (black line). When the distance between these
Projection. Velocity vector V1 is the beginning of the path to points exceeds the path radius (indicated by a red line)
the future location of arm. Velocity vector V2 is the total path corrective steering is required. (In the Figure 4, an equivalent
from start to end. The main objective is to find the distance condition is that the point ‘a’ moves outside the region
between the future point, ‘a’ and end point of projection, ‘b’ included in the radius.) Corrective steering is obtained
(vector V1 on vector V2). The initial, future and projected using seek behavior on a target point ’b’, further down the
positions of a robot following the path is shown in Figure 3. path. The robot arm's position is mapped into a distance
Vector
5 V1 shows the distance from the initial to future moved along the path. Increment in speed is proportional to
position of a robot. Vector V2 shows the total path length. The increment in distance and converted back to a target point ‘b’
distance, ‘d’ of this normal vector is calculated by Scalar on the path (green circle.) The path following goal is
Projection. considered to be met as long as the robot arm is within a
certain neighborhood of the path spine. The path following
requirement can be made more strict by reducing the radius
towards zero.

Figure 3. Path Following

 Figure 7. Cross Arm

Figure 5. Steering Behavior

The future position of robot arm (red dot) confined to the

path radius is shown in Figure 5. The future position of a robot
arm (red dot) can be brought to the path by applying steering Figure 8. Robot Arm Segments
force of maximum of 0.1N and it can be brought to the path
easily by making the path radius zero. The projected point of The robot arm segments which is created on the principles
future position of a robot arm (green dot) is shown in Figure 6.
2
of forward and inverse kinematics is shown in Figure 8. The
The projected point (green dot) will be always parallel to the movement of the robot arm segments is done by child
future point (red dot). segments following the parental segments to reach the target
position.
The future positions (red dot) of a robot can be altered as
shown in Figure 9. The coordinates of the future position and
radius of future position can be altered. The alteration of the
projected point (green dot) of the future position is shown in
Figure 10. The coordinates of projected point and radius of the
projected point can be altered.

Figure 6. Path Following Arm

III. RESULTS AND DISCUSSIONS Figure 9. Path Following Arm

Steering force applied must be greater than 0.1N in order
to maintain a path. The Following observations are made.
• Future point of arm – Point coordinates
• Future position radius – Path radius (Increase or decrease)
• Projection point distance – Normal vector (Increase or
decrease)
• Arm shape – (Triangular shape in this study)
• The speed of the robot arm is controlled by changing
speed value between minimum and maximum.
• Due to which speed is also decreased. On the command Figure 10. Projected Arm Point
over the speed and the direction is also controlled.
The creation of a cross arm is shown in Figure 7.Cross IV. CONCLUSIONS
arm is the initial step for the configuration of the robot arm. This study concludes that the line-following robot
represents an autonomous system capable of recognizing its
path and efficiently adjusting its position to remain on track
within a three-dimensional space (x, y, z). The robot's ability
to autonomously detect and follow its designated trajectory
 8
demonstrates its potential for various applications in robotics
and automation.
The trajectory tracking of the robot arm is effectively
projected using inverse kinematic transformations,
implemented through
12 Java programming in a SIMULINK
environment. This approach provides precise control over the
robot's movements and ensures that it can adapt to changes in
the path
7 while maintaining accurate positioning.
The effectiveness of inverse kinematic solutions is further
highlighted in the design and implementation of robotic
systems within manufacturing environments. This method
proves particularly advantageous in scenarios where precision,
speed, and flexibility are paramount. By leveraging inverse
kinematics, robots can be programmed to follow complex
trajectories with high accuracy, reducing the need for manual
intervention and enhancing overall productivity.
V. REFERENCES
[1] Virendra Patidar, et.al., “Survey of robotic arm and parameters”,
International Conference on Computer Communication and Informatics
(ICCCI -2016), 978-1-4673-6680-9/16 IEEE, 2016
[2] Quiñonez, et.al. 2021. "Algorithm to Generate Trajectories in a Robotic
Arm Using an LCD Touch Screen to Help Physically Disabled
People" Electronics 10, no. 2: 104
[3] J. Levinson, et.al., "Towards fully autonomous driving: Systems and
algorithms," 2011 IEEE Intelligent Vehicles Symposium (IV), pp. 163-
168, doi: 10.1109/IVS.2011.5940562, 2011
[4] Craigs Reynolds, “Steering Behaviour for Autonomous Characters”,
Sony Computer Entertainment America 919 East Hillsdale Boulevard
Foster City, California 94404, Game developers conference, pp 763-
782, 2002
[5] Gurjeet Singh, et.al.,“Optimal Trajectory Planning Analysis of Robot
Manipulator Using PSO,”. 10.21203/rs.3.rs-587955/v1, 2021
[6] Armin Bruderlin, et.al., “Goal-Directed, Dynamic Animation of Human
Walking ,” Computer Graphics, Volume 23,Number 3 pp 233-242, 1989
[7] Kumar Jha, et.al., “Project Report Line Following Robot”,
2
10.13140/RG.2.2.21215.79522. 2016
[8] Tijmen Bakker et.al., “A path following algorithm for mobile robots,”
Auton Robot 29:85-97 DOI 10.1007/S10514-010-9182-3, 2010