Design, Modeling and Trajectory Optimization of a Custom 6-DOF Robotic Arm.

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dc.contributor.advisorSandor, Hajdu
dc.contributor.authorPeng, Shaoyang
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2026-06-02T12:10:28Z
dc.date.available2026-06-02T12:10:28Z
dc.date.created2026-05
dc.description.abstractThis thesis presents a complete design‑to‑simulation framework for a custom six‑degree‑of‑freedom robotic arm, from SolidWorks modeling to MATLAB‑based high‑fidelity analysis using realistic inertial parameters. Three joint‑space trajectory planning algorithms (cubic polynomial, quintic polynomial, and a path‑velocity separated Bézier curve with zero endpoint velocity) are implemented and compared. Kinematic analysis shows that the quintic and Bézier curves provide smooth acceleration, while the cubic polynomial exhibits endpoint acceleration jumps and constant jerk. Inverse dynamics simulations compute joint torques and energy consumption, revealing that the Bézier curve yields slightly lower energy in the main load‑carrying joints (shoulder and elbow), although peak torque differences among the algorithms are minimal. Based on the combined kinematic and dynamic results, trajectory recommendations are made for different applications: quintic polynomial for precision tasks, Bézier curve for obstacle avoidance, and cubic polynomial for simple motions. This work provides a quantitative reference for selecting trajectory planning algorithms in robotic manipulator design.
dc.description.courseMechanical Engineeringen
dc.description.degreeMSc/MA
dc.format.extent69
dc.identifier.urihttps://hdl.handle.net/2437/407691
dc.language.isoen
dc.rights.infoHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subject6-DOF Robotic Arm
dc.subjectTrajectory Planning
dc.subjectKinematics and Dynamics
dc.subject.dspaceEngineering Sciences::Engineering
dc.titleDesign, Modeling and Trajectory Optimization of a Custom 6-DOF Robotic Arm.
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