In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.
A Mobile Platform with a Robotic Arm Working in a Semi-structured Environment: Two Basic Contributions
