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Design and Implementation of an Autonomous Robot Manipulator for

Pick & Place Planning
To cite this article: Mohd. Nayab Zafar et al 2019 IOP Conf. Ser.: Mater. Sci. Eng. 691 012008

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

Design and Implementation of an Autonomous Robot

Manipulator for Pick & Place Planning

Mohd. Nayab Zafar1, J. C. Mohanta1, Alok Sanyal1

1
Motilal Nehru National Institute of Technology Allahabad, Prayagraj-211004, India

E-mail: [email protected], [email protected] and [email protected]

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.
Keywords: Mobile Robot Manipulator, Artificial Intelligence Technique, Path Planning,
Obstacle Avoidance.

1. Introduction

In the field of robotics, mobile robot manipulators are generally combination of manipulator arm
integrated with a movable base for performing remarkable jobs, dexterous tasks routinely in industries.
In research community/industry of robotics, robotic manipulators are seeking attention due its
multifaceted nature of obstacle avoidance and kinematic singularity avoidance in a jumbled situation
type arena. Mounting of a manipulator over mobile base overcomes the workspace limitations, joint
angle limitations redundancy and failure of joints that are incompatible for human interference in
operating arena. In Cartesian coordinates, inverse kinematics simplifies the finding of correct
coordinate of base and joint positions for a given end effectors coordinates [1]. Basically in
manipulation a widely range of products are assembled as cars to microprocessors with highly precise
speed and accuracy. The lack of abundance of robots in our homes might seems puzzling that they can
assemble the cars but not clearing the kitchen stuffs after cooking, researchers claim that industries are
well structured but homes are unstructured by muddle and disorderliness which creates difference that
industries are structured for robots and homes are structured for humans. Finally, researchers are
working to enhance the understanding, adaptability and utilizing the structure scenario of our homes,
due to clutter and messiness in car assembling industry. In contrast, a car mechanics workshop is

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

small, with a few skilled mechanics spread over a few square feet, each performing a multitude of
tasks which might create confusion related to home tasks.
According to Raghavan et al. [2] problems arises in designing of series and parallel manipulators
for applying prescribed wrenches on the environment. Methodology is basically depending on the
basic principle of statics, which yields polynomial design equations and are easier to deal with in
comparison to the differential equations, when inertial effects is modelled. According to Shiller et al.
[3] optimal dynamic performance is measured by designing manipulators for selecting the link lengths
and actuator sizes for least time motions along specified paths. Exact method is applied for optimizing
parameters and cost function is the motion time along the path, serves as a bench mark for a best
efficient approximation, by selecting system parameters to explore the acceleration along specified
path. According to Mermertas et al. [4] in parallel manipulators only single location is described
between force and motion (i.e. mobility index=1), maximum mobility(local) index depends upon the
input link position and design charts of manipulator, based on link measuring parameters performance
of manipulator can be maximize for not only a certain position, also for position intervals. Where,
local mobility index is not equivalent to one, there it gives better conditions in terms of force-motion
relationship in compared with parallel manipulator. According to Harada et al. [5] planner of dual arm
manipulators for objects pick and place motion in both offline and online phases is developed, object
with set of regions and environment surfaces are developed in offline phase and several parameters
needed in the online phase is calculated, then planner selects a grasping position of the robot and a
putting posture of the object by searching regions founded in offline phase is basically the online
phase. It also plans robot’s trajectory and dual arm rewrapping strategy. According to Begum et al. [6]
obtaining performance of pick and place robot using object detection application by android and PIC
microcontroller basically programmed in java language is designed, input of voice is received by RF
receiver and processed to the controllers by HM2007 (RF module) microcontroller. Picking of object
using camera of mobile which over comes the drawback of sensors by capturing the objects via
android mobile applications. Further, Bluetooth sends output received to the controller.
Electromagnetic induction concept is applied for wireless charging, allowing the robot to charge itself
whenever battery is low on-board. According to Patel et al. [7] development of framework for
generating optimal geometric structure of manipulator for various task necessities and performance
restraints in terms of the required end-effector locations, orientations along the task route. Under set of
operating restraints this methodology, which can be used analytically or numerically in module of
inverse kinematics guaranteed the task performance of the developed manipulator structure. According
to Aboti et al. [8] development of a general framework for prototyping of robotic arm with 5 degree of
freedom, SCARA configuration to pick and place numerous quantity of components from a horizontal
stack into a loading crate based on task descriptions and operating constraints. Denavit-Hartenberg
convention and generalized algorithm is applied for joint link parameters, validation is done using
MATLAB® gives desirable value with error less than 1% of the real values. According to McTaggart
et al. [9] Cartesian novel manipulator named Cartman (Amazon Robotics Challenge 2017 winner)
with minimal cost is examined for evaluation of the design and performance for undertaking the
challenges associated within motion planning and control problem for multiple degree of freedom in
robotic manipulation. The aforesaid manipulator having linear speed limited to 1m/s, angular speed to
1.5 radian/s, payload of 2 kg, and static sub-millimetre accuracy, due to belt slipping in system target
speed is not achieved its yields limited speed up to 0.57 m/s. According to Ropo et al. [10] framework
for optimal utilization of machine and manpower with desired speed and highly desirable accuracy for
performing repetitive tasks in industries except Nigerian country, where availability of cheap labours
is very high creating major issue in terms of cost. A direct drive serial manipulator having 3 degree of
freedom is designed (Blender software), fabricated (3D printing) and controlled (servo motors) for
performing tasks (i.e. movements of ferromagnetic metals), direct drive mechanism incorporates to
convey heavy loads lacking speed of system. As per requirement the payload capacity and required
torque at each joint is 15N and 10.787N-m respectively, which is sufficient as required at elbow joint,
shoulder joint and base joints is 4.3N-m, 7.2N-m and 8.7N-m, respectively. According to Ram et al.

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

[1] robotic manipulator working uunder obstruction free arena and cluttered arena is solved using
bidirectional PSO for obtaining inveerse kinematics solution. Bidirectional method givess quicker result
compared to unidirectional method,, line type obstructions tackling problem in collision n detection and
obstruction avoidance tasks are unndertaken via particle swarm technique consideringg the objective
function as movement of joints and constraints as collision avoidance, illustratio on of systems
effectiveness experiments are perforrmed numerically on 4 degree of freedom manipulato or system.
The aforesaid literature review shows
s that there is a scope of improvement in the teechniques given
above for path optimization and useu of mobile robot for pick and drop applicationss. In the above
techniques there are too many loccal optima’s obtained [12-14]. Most of the paths developed by
researchers especially for the situattion like edge navigation at the turning points havinng sharp edges
that may be difficult to obtain in real robot. So, we have chosen grey wolf optim mization as the
Artificial Intelligence Technique forr mobile robot manipulator. The main objectives of tthe paper are:
 To pick and place the object in minimum possible time with the help of motion planning.
p
 Finding the most optimized path p from starting location to target location.
 Selection of the most optimizzed path and movement through artificial intelligencce technique.
 Avoiding obstacles (Static/D Dynamic) while moving from starting location to targget location.

2. Analysis of Mobile Manipulatorr

2.1. Problem Description

Consider the following map as show

wn in figure 1, we have to pick and place an object in an unknown
environment thereby avoiding obsttacles and following an optimized path. For impleementing this a
robotic arm is mounted on a mobille robot, which picks an object from a given start point and then
implement path planning using artiificial intelligence technique to reach to a given tarrget point after
which it places the object.

Figure
F 1. Description of Problem

2.2. Motion Planning Steps:

 General Goal: Compute motiion commands to achieve a goal arrangement of phy

ysical objects.
 Basic problem: Collision-freee path planning among static obstacles.
Inputs: (a). Geometric descriptions of
o the obstacles and the robot.

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

(b). Initial and goal positions (configurations) of the robot.

Output: Collision-free continuous path connecting the initial and goal configurations.

3. Artificial Intelligence Technique

Artificial Intelligence techniques is basically making a machine intelligent alike natural intelligence in
humans and other animals for achieving better efficacy as per the human’s requirement and needs. In
department of computer science, Artificial intelligence technique is viewed as an intelligent agent,
which identifies its arena and performs for maximizing the chance of achieving the goal successfully.
In this paper grey wolf optimization technique is applied for optimizing the path of mobile robot,
performing pick and place application.

3.1. Grey Wolf Optimization Technique

It is a novel approach proposed by Mirjalili et al. [11] in 2014. It is fairly simple, high flexibility in
nature and has superior abilities to avoid local optima situations. This technique defines the hierarchy
of leadership in group and system applied for hunting the prey for survival of wolves. A mathematical
model of grey wolf optimization technique by Mirjalili et al. [11] is as follows:
))& ))& )))& ))&
D  C . X p (t )  X (t ) (1)
))& )))& )& ))&
X (t  1)  X p (t )  A.D (2)
)& & )& &
A  2 a. r1  a (3)
)& )&
C  2. r2 (4)

where, D is the displacement vector, current iteration is t, X & Xp is wolf position and prey
position respectively, C&A are vector coefficients, a&r are random vectors.

3.2. Implementation of Grey Wolf Artificial Intelligence Technique

Methodology Proposed:

 Understanding towards the approach, optimization and manipulator basics.

 Development of MATLAB® software code for grey wolf optimization (AI Technique).
 Simulation of mobile robot implementing artificial intelligence software in MATLAB ®.
 Designing robotic arm and calculations of payload.
 Procurement of mobile manipulator hardware.
 Development and assembly of robotic arm and mobile robot, using its parts to form a mobile
robot manipulator.
 Testing of mobile robot manipulator for pick and drop applications implemented with artificial
intelligence in unknown static environment consisting of obstacles.

4. Robotic Arm Manipulator

An arm, mechanically reprogrammable having alike functions of human’s arm is termed as robotic
arm manipulator, allowing motions like rotational and translational/linear [15]. The links forms a
kinematic chain; terminus of the chain is termed as end effector. The foremost application of robotic
arm manipulator is assembling of parts, painting, welding, material handling, palletizing, spinning,
gripping etc.

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

4.1. Robotic Arm Design

The key factor for achieving higheer efficacy of system is designing, designing of seervo controlled
robotics arm manipulator is done onn designing software SOLIDWORKS® 2016 as show wn in figure 2:

uN uN

N N

mg

Figure 2. Design of Servo Controlleed Robotic Arm Figure 3. Forces in Mechannical Gripper

4.2. Robotic Arm Payload Calculatiions

To calculate the weight of an objecct (W) to be lifted or payload, using the concept of frictional force
that acts perpendicular to the normmal force as shown in figure 3, having servo moto or torque in the
range of 3-5N-cm, torque in the range of 1.5-5N-cm, factor of safety 2.0 (assumed), butt practically we
have friction of coefficient for woodd in the range of 0.3-0.5 & Clamping Length=10 cm,, then:
Normal Reaction Force (N)=1.5/ (2*10) =1.5N
Assuming, friction of coefficient (uu)=0.3 and weight of mechanism =45gm (includes weight
w of links
and gears).
weight of object and weight of mechhanism (W1)=(2*u*N)/g= (2*0.3*1.5)/9.81=95gm
So, the weight of object (W)=W1-455=50gm.

5. Simulation Results

Simulation result for four differentt type of domain are shown in figures and optimizzed path length
with elapsed time during performannce with obstacle and without obstacle is incorporatted in tables as
shown below.

5.1. Navigation in Triangular Shapeed Slab Obstacles:

In this simulation three triangularr shaped slab obstacle are placed in such a way that the target
is not directly visible from the roobot’s start position. The robot has to start the naavigation from
bottom left corner (i.e. red squaree) to the target point (i.e. green square) in the chhosen arena as
shown in figure 4. The robot folllows the wall following rule during locomotion n and navigate
in an approximately straight path h till the end of the first slab and turn left to reaach the target,
while avoiding the obstacle.

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

Figure 4.2D&3DTriangularShaped Obstacle Simulation

5.2. Navigation in Conical Shaped Obstacles:

In second simulation a more complex arena has been selected as compared to first situation, the
second simulation consist of conical shaped obstacles which are placed in such a way that they form a
complex maze as shown in figure 5. The robot has to starts its journey from bottom left corner to the
middle of the arena where the target is surrounded by many obstacles in its periphery. The robot had
chosen the approximately near optimal path to reach the target by getting the systematic sensory
information from the target and the obstacles without colliding with them.

Figure 5. 2D & 3D Conical Shaped Obstacle Simulation

5.3. Navigation in Cubical Shaped Obstacles:

In third simulation the robot has to cope up with dissimilar obstacles shapes and size as compared to
the previous simulation. In this simulation the target is kept very close to one of the obstacles. The
robot has to start its journey from bottom left corner of the chosen arena and has to reach the target
point by following shortest path without colliding with the obstacles as shown in figure 6.

Figure 6.2D & 3D Cubical Shaped Obstacle Simulation

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

5.4. Navigation in S-Shaped Obstacles:

In the fourth simulation a S-shaped obstacle has been considered. The robot first moves diagonally to
reach the wall of the S- shape boundary and follows the wall following rule to reach the target by
navigating along the near optimal path as shown in figure 7 without colliding with the obstacles.

Figure 7.2D & 3DS-Shaped Obstacle Simulation

5.5. Path without obstacles:

Table 1: Simulation Results without obstacles

Domain Elapsed Time Path length Result
1 55.596324 59.5642 Robot reached target point

5.6. Path with obstacles:

Table 2: Simulation Results with obstacles

Elapsed Time Path Length Maximum Heading
Domains (seconds) (pixels*) Angle Results
(degrees*)
1 117.926889 70.2210 85 Robot reached target point
2 73.937600 70.9244 60 Robot reached target point
3 122.856923 71.2924 35 Robot reached target point
4 117.872310 70.3603 70 Robot reached target point

6. Conclusion and Future Scope

The key objectives of this paper are modelling and simulation section of an autonomous mobile robot
manipulator for pick and place applications; it clearly shows that its movement is precise, accurate,
easy to program and user friendly in nature. The GWO technique was implemented for trying to
successfully develop an optimized path for the robot to perform its desired task. The programming and
interfacing of microcontroller has been mastered during the implementation of objectives. In real time
applications we can use a superior grade of electronic components for high end performance. If
compared with real-time situation, there are some deviation due to the fact that ambient conditions are
continuously changing and the simulation results does not take dissipative factors like friction, heat
developed in electronics etc. we solved this difficulty by using a small sensing radius but when
compared to the real-time situations our assumptions created some erroneous results. Also the
algorithm works in a way that, though it reaches to the optimum value really fastest one but can’t
guarantee that the path taken by the robot to reach to the target point is best.

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ICCEMME 2019 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 691 (2019) 012008 doi:10.1088/1757-899X/691/1/012008

The paper basically depicts the concept of a robot interacting with a day-to-day environment and
performing the desired operations. The research in the field can be taken to further levels like
involving more complicated environment and more complicated dynamic conditions. This paper
depicts basic level condition that involved the use of only simple sensors and basic microcontroller.
With more investment in this field much broader and advance level research can be done. With finding
advanced methods for robot path planning and making our robot smarter, we are moving towards a
better future with artificial intelligence.

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