Real Time Computer Algorithm for Trajectory Planning of Robotic Crane

This research focuses on developing a Trajectory Planning Generator for a Robotic Crane System, utilizing an Arduino microcontroller integrated with a Proportional-Integral-Derivative (PID) Controller to enhance efficiency, precision, and operational safety while mitigating residual vibrations. The proposed approach optimizes angular displacement, velocity, and acceleration through trapezoidal velocity profiles, ensuring smoother and more efficient crane movements. Theoretical and experimental investigations identified the system's natural frequency at 8.963 rad/s and a vibration suppression time of 0.701 seconds. Without the algorithm, tests revealed significant vibrations, leading to mechanical wear and inefficiencies. By implementing the Trajectory Planning Generator, the study demonstrated enhanced stability, reduced vibrations, and improved precision, validated through simulations and practical tests. Lastly, possible applications of this trajectory planning technique in material handling and industrial automation will be discussed. This technology can increase productivity and reduce dangers connected with human crane operations; its wider effects on efficiency and safety in industrial settings will be emphasized. The goal of these advancements is to greatly develop robotic crane technology in various sectors.