Analysis of inverse kinematics and trajectory errors in robotic arm motion

The object of research: Robot arm performance analysis 6 degrees freedom for automatic welding applications. Robot arm, built from 1010 aluminum, has six joints driven by motor stepper nema 23 and Nema 17 with various transmission systems to ensure proper movements. Controlled by the Arduino Mega 2560, this system integrates Stepper Motor Drivers, 24V Power Supplies, and rotary encoder for monitoring of real time connections. Investigated problem: Analyze the inverse kinematics, trajectory planning, and capability process of a robotic arm for automated welding applications. Inaccuracy and trajectory errors in the movement of robot arm when doing automatic welding tasks. The transition from manual welding to the automatic system faces the main challenges in achieving precise movement control, especially in maintaining the stability and accuracy of the welding path. Although various studies have developed advanced and reverse kinematics approaches to optimize the movement of robot arm, there is still a difference between the simulation and experimental results in terms of position and end-effector orientation. Errors in the joint angle estimation and trajectory execution can cause deviations in the welding path, which affect the quality of welding joints and production efficiency. The aim of this study was to analyze the inverse kinematics, trajectory planning, and capability process of a robotic arm for automated welding applications. The main scientific results: It showed a difference between reversed kinematics solutions and simulations, with joint angular errors 2, 3, and 5 ranging from 0.98º -2.7º. The movement of the robot arm when welding is quite smooth, but there is still an average trajectory error of 2.25 mm on the X axis and 10.57 mm on the Y axis. The area of practical use of the research results: The robotic welding systems by integrating inverse kinematics and trajectory planning algorithms with an Arduino 2560 microcontroller. Innovative technological product: The developed are robot arm control systems with 6 freedom degrees of Arduino 2560, equipped with a rotary encoder sensor to increase the accuracy of movement. This system allows more precise path control through more optimal planning, so as to produce a more consistent and high-quality welding connection. Scope of the innovative technological product: The automotive manufacturing industry, shipbuilding, and metal production that requires welding with a high precision level.