Development of an autonomous 6DOF robotic arm using machine learning

Abstract

This thesis presents the development of a 6-DOF autonomous collaborative robotic arm, covering mechanical design, kinematic & dynamic analysis, 3D printing, and full electrical system integration. The robot is controlled via ROS and Robodk for simulation and motion planning. Autonomy is achieved through supervised learning, reinforcement learning, and ArUco marker-based pose estimation. The final system demonstrates a robust and flexible autonomous robotic arm capable of performing industrial tasks.