Implementation of Inverse Kinematic and Trajectory Planning on 6-DOF Robotic Arm for Straight-Flat Welding Movement

Robotic arms have been used in various processes such as for moving goods, welding, assembling, and painting. In the case of welding painting, it is necessary to move end-effector robot accurately smoothly follow specified trajectory. robotic arm control, 2 things are important be analyzed implemented controlling motion arm, namely inverse kinematic trajectory planning. this study, planning algorithms controller form an Arduino Mega 2560 microcontroller. The solution uses geometric algebraic analytical methods. while method using LSPB (Linear Segment Parabolic Blend) Trajectory Cartesian Space. Data retrieval done by giving input coordinates desired position orientation, then data joint angle value will measured a rotary encoder sensor. Furthermore, measurement converted cartesian get position. analysis comparing each with calculated so that error appears. results showed were successfully applied 6-DOF perform straight-flat movements. Inverse testing on both coordinates, average joints 2, 3, 5 1.82º, 1.26º, 2.08º. Meanwhile, at x z 2.08 mm 12.9 mm, respectively. Then test, 2.25 10.7 mm.