ItemConference Paper

Path Planning of KR6 R900 Vision Sensor Assisted KUKA Industrial Robot for Pick and Place Application

Title
Path Planning of KR6 R900 Vision Sensor Assisted KUKA Industrial Robot for Pick and Place Application
Creator
Rout, Amruta; Kavalli, Kiran; Ramegowda, Ravikumar
Description
In this paper, a new multi-objective functions comprising of squared values of joint jerk, acceleration, torque rate and total travel time subjected to kinematic and dynamic constraints have been formulated for achieving optimal trajectory for industrial applications. Then four different multi-objective optimization algorithmsthe multi-objective particle swarm optimization technique (MOPSO), the multi-objective genetic algorithm (MOGA), non-dominated sorting genetic algorithm-II (NSGA-II) and the proposed multi-objective enhanced teaching learning-based optimization (MOETLBO)have been utilized to obtain the optimal solution for trajectory planning. Finally, the experimental validation of the proposed technique and the summarization of simulation results have been done as a comparative study of the four different metaheuristic techniques for pick and place application of KR6 R900 KUKA industrial manipulator. The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.
Source
Lecture Notes in Networks and Systems;Volume;1358 LNNS;pp.277-293
Date
01-01-2026
Publisher
Springer Science and Business Media Deutschland GmbH
Subject
EMOTLBO; Industrial robot; Multi-objective optimization; Path planning
Coverage
Rout A., Department of Mechanical and Automobile Engineering, Christ University, Bangalore, India; Kavalli K., Department of Mechanical and Automobile Engineering, Christ University, Bangalore, India; Ramegowda R., Department of Mechanical and Automobile Engineering, Christ University, Bangalore, India
Rights
Restricted Access; Hardcopy may be available in the library
Relation
ISSN: 23673370; ISBN: 978-981967613-2;
Format
online
Language
English
Type
Conference paper

Citation

Rout, Amruta; Kavalli, Kiran; Ramegowda, Ravikumar, “Path Planning of KR6 R900 Vision Sensor Assisted KUKA Industrial Robot for Pick and Place Application,” CHRIST (Deemed To Be University) Institutional Repository, accessed June 19, 2026, https://archives.christuniversity.in/items/show/25601.

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