Optimizing the Pick and Place Mechanism using MATLAB Functionalities and Kinova Gen3.

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Bibliographic Details
Title:	Optimizing the Pick and Place Mechanism using MATLAB Functionalities and Kinova Gen3.
Authors:	Pallav, Pratyush¹, Mahato, Anil C.¹ anilmahato@bitmesra.ac.in
Source:	Journal of Engineering Science & Technology Review. 2025, Vol. 18 Issue 6, p76-84. 9p.
Subjects:	MatLab (Computer software), Manipulators (Machinery), Industrial robots, Trajectories (Mechanics), Computer simulation, Robot control systems
Abstract:	Picking and placing are fundamental biomechanical human activities that can be replicated in a manipulator. Although simple, it is vital for day-to-day functioning in industries. Many hard-coded manipulators are designed solely for picking and placing. However, as new industries set up their "intelligent manufacturing" plants, more intelligent methods are being used to detect, process, and manipulate them. This study approaches a similar approach using a Kinova Gen3 manipulator that proposes an algorithm and uses the Structural Similarity Index Measure (SSIM) to estimate object distances. The Kinova Gen3 manipulator has been used for the application due to its variable degree of freedom, which can be altered from six to seven, and it can be used to perform flexible movement, that can be utilized in different complex objectives. Moreover, it uses Stateflow, MATLAB's Robotic System Toolbox, which aids in creating an environment to observe the limitations and streamline the manipulation processes. The simulation responses confirm that the rendering time and task complexity can be drastically reduced by applying task space trajectory and interpolation methods, resulting in unparalleled task completion. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	Picking and placing are fundamental biomechanical human activities that can be replicated in a manipulator. Although simple, it is vital for day-to-day functioning in industries. Many hard-coded manipulators are designed solely for picking and placing. However, as new industries set up their "intelligent manufacturing" plants, more intelligent methods are being used to detect, process, and manipulate them. This study approaches a similar approach using a Kinova Gen3 manipulator that proposes an algorithm and uses the Structural Similarity Index Measure (SSIM) to estimate object distances. The Kinova Gen3 manipulator has been used for the application due to its variable degree of freedom, which can be altered from six to seven, and it can be used to perform flexible movement, that can be utilized in different complex objectives. Moreover, it uses Stateflow, MATLAB's Robotic System Toolbox, which aids in creating an environment to observe the limitations and streamline the manipulation processes. The simulation responses confirm that the rendering time and task complexity can be drastically reduced by applying task space trajectory and interpolation methods, resulting in unparalleled task completion. [ABSTRACT FROM AUTHOR]
ISSN:	17912377
DOI:	10.25103/jestr.186.09