Simulation of robot arm material grasping and handling based on youBot

With the constant development of Industry 4.0, robotics technology keeps advancing. Correspondingly, people's requirements for robots have become higher. Robots are required to not only realize general linear motion and complex curved motion, but also to have finer control, more stable motion, and to realize the trajectory planning of the specified path. Many previous industrial robots’ gripping and handling were planned separately for different parts, which made the operation process cumbersome. Therefore, in this paper, the KUKA youBot robot is used as a research object to study the problem of robotic grasping and handling of materials, to derive a stable model for grasping and handling. In this paper, the robot is modeled and analyzed in terms of forward and inverse kinematics. The interpolation algorithm is used to plan the trajectory of the end of the robot arm during the whole process and also to get the data of each joint and wheel. Finally, the data of each joint and wheel are transferred by a simulator to the robot in Coppeliasim to complete the simulation of grasping and handling of cubes. The simulation achieves stable operation and overall planning. It is inspiring and provides a viable model for real-world robot grasping and handling.