Robotic Arm for Object Stacking Based on Inverse Kinematics Method

Abstract

This study describes the design and implementation process of a 3-DOF robotic arm designed to automatically stack objects based on coordinates using the inverse kinematics method. The system combines the use of servo motors, proximity sensors, and an Arduino Nano microcontroller to detect the presence of objects and adjust the angle of each joint, enabling precise object placement. Unlike traditional approaches that use fixed motion paths, the method proposed in this study dynamically calculates joint angles according to the height and position of the targeted stack. System testing demonstrated stable performance in stacking objects at five different coordinate points, with travel times ranging from 7.78 to 8.74 seconds and perfect placement success rates in every trial. Analysis of servo angle data indicates that the robot arm is capable of automatically adjusting its movements in response to changes in stack height, ensuring system accuracy and reliability. As such, this automation solution offers a cost-effective alternative for small-scale stacking applications that require flexibility and real-time position adjustment capabilities.