LEAP MOTION UNDERWATER ROBOTIC ARM CONTROL

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Lee Jun Wei ◽  
Loi Wei Sen ◽  
Zamani Md. Sani
Keyword(s):  
Control Algorithm ◽  
Inverse Kinematic ◽  
Robotic Arm ◽  
Leap Motion ◽  
Robotic Arms ◽  
Gesture Control ◽  
Pick And Place ◽  
Robotic Arm Control ◽  
Reliability Performance ◽  
And Control

The robotic arm structure and control algorithm are designed for a purpose, to pick and place an object task at underwater which is attached to a ROV (Remotely Operated Underwater Vehicle). It is controlled by an innovated gesture control system, Leap Motion controller. The arm structure of pick and place is controlled by Arduino as microcontroller to control the angles and displacements of the servomotor precisely. The detection of position and orientation of the fingers and hands processed by develop control algorithm in Javascript language and sent to the Arduino. Meanwhile, a detailed 3D drawing is drawn precisely by using SolidWorks for the fabrication. After the platform is completed, kinematic and inverse kinematic equations and calculations are programed into JavaScript language for the control algorithm. Lastly, the hardware and software combined all together. With developed control algorithm, the robotic arm mimics human’s fingers and arm movements which more user friendly interface especially underwater scavenging and salvaging. Since it designed for underwater, the accuracy and precision are crucial for robotic arms, it undergo several experiments and tests for investigate reliability performance of developed robotic arm.   

scholarly journals Gesture Control of Robotic Arm

2017 ◽  
Vol 7 (1) ◽  
pp. 1
Author(s):  
Dharshan Y. ◽  
Vivek S. ◽  
Saranya S. ◽  
Aarthi V.R. ◽  
Madhumathi T.
Keyword(s):  
Batch Process ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Key Technology ◽  
Cleaning Robot ◽  
Gesture Control ◽  
Major Chemical

<div><p><em>Robots have become a key technology in various fields. Robotic arms are mostly remote controlled by buttons or panels and sometimes in batch process they are autonomous. The usage of panel boards or control sticks includes a lot of hardwiring and subject to malfunction.  It also induces some stress on the operators. Hence major chemical industries like cosmetic manufacturing, paint manufacturing and Biosynthesis laboratory etc., which deals with hazardous environment due to the chemicals and other bio substances, involve humans for the processing. The aim is to reduce the bulk of wiring in the robotic arms and reduce the effort and number of operators in controlling the robotic arm operations. To implement gestures into the process this would be a major breakthrough. This can also be used as pick &amp; place robot, a cleaning robot in chemical industries where a human does not need to directly involved in the process of cleaning the chemicals and also for coating underground tanks.</em></p></div>

scholarly journals Implementation of Gesture Control Robotic Arm for Automation of Industrial Application

2020 ◽  
pp. 147-156
Author(s):  
Shriya A. Hande ◽  
Nitin R. Chopde
Keyword(s):  
System Design ◽  
The Other ◽  
Robotic Arm ◽  
Human Hand ◽  
Design And Implementation ◽  
Gesture Control ◽  
Rf Signals ◽  
Pick And Place ◽  
Almost All ◽  
Minimal Effort

<p>In today’s world, in almost all sectors, most of the work is done by robots or robotic arm having different number of degree of freedoms (DOF’s) as per the requirement. This project deals with the Design and Implementation of a “Wireless Gesture Controlled Robotic Arm with Vision”. The system design is divided into 3 parts namely: Accelerometer Part, Robotic Arm and Platform. It is fundamentally an Accelerometer based framework which controls a Robotic Arm remotely utilizing a, little and minimal effort, 3-pivot (DOF's) accelerometer by means of RF signals. The Robotic Arm is mounted over a versatile stage which is likewise controlled remotely by another accelerometer. One accelerometer is mounted/joined on the human hand, catching its conduct (motions and stances) and hence the mechanical arm moves in like manner and the other accelerometer is mounted on any of the leg of the client/administrator, catching its motions and stances and in this way the stage moves as needs be. In a nutshell, the robotic arm and platform is synchronised with the gestures and postures of the hand and leg of the user / operator, respectively. The different motions performed by robotic arm are: PICK and PLACE / DROP, RAISING and LOWERING the objects. Also, the motions performed by the platform are: FORWARD, BACKWARD, RIGHT and LEFT.</p>

Fuzzy model predictive control for 2-DOF robotic arms

2018 ◽  
Vol 38 (5) ◽  
pp. 568-575 ◽  
Author(s):  
Weilin Yang ◽  
Wentao Zhang ◽  
Dezhi Xu ◽  
Wenxu Yan
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Fuzzy Model ◽  
Robotic Arm ◽  
Real Time System ◽  
Content Type ◽  
Loop Control ◽  
Robotic Arms ◽  
Intrinsic Nonlinearity ◽  
Robotic Arm Control

Purpose Robotic arm control is challenging due to the intrinsic nonlinearity. Proportional-integral-derivative (PID) controllers prevail in many robotic arm applications. However, it is usually nontrivial to tune the parameters in a PID controller. This paper aims to propose a model-based control strategy of robotic arms. Design/methodology/approach A Takagi–Sugeno (T-S) fuzzy model, which is capable of approximating nonlinear systems, is used to describe the dynamics of a robotic arm. Model predictive control (MPC) based on the T-S fuzzy model is considered, which optimizes system performance with respect to a user-defined cost function. Findings The control gains are optimized online according to the real-time system state. Furthermore, the proposed method takes into account the input constraints. Simulations demonstrate the effectiveness of the fuzzy MPC approach. It is shown that asymptotic stability is achieved for the closed-loop control system. Originality/value The T-S fuzzy model is discussed in the modeling of robotic arm dynamics. Fuzzy MPC is used for robotic arm control, which can optimize the transient performance with respect to a user-defined criteria.

scholarly journals Efficiency Comparison between Robotic Manipulator Configurations for Trajectory/Path Tracing

2020 ◽  
Vol 10 (11) ◽  
pp. 56-60
Author(s):  
Joshua Laber ◽  
◽  
Ravindra Thamma
Keyword(s):  
Global Economy ◽  
High Speed ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Manufacturing Companies ◽  
Robotic Arms ◽  
Repetitive Tasks ◽  
Pick And Place ◽  
Efficiency Comparison ◽  
Speed And Accuracy

In automation, manufacturing companies require high speed and efficiency to remain competitive in the global economy. One of the most popular ways to increase precision, speed, and accuracy is to implement industrial robotic arms. As of 2020, 2.7 million industrial robots are in operation worldwide. A robotic arm is a machine used to automatic repetitive tasks by manipulating tools or parts in the space around it. Businesses use robotic arms for many operations including pick and place, machining, welding, precision soldering, and other tasks. But with all the different types and configurations of robotic arms, the question remains: What arm would best suit the task at hand? This paper examines and compares three commonly available types of robotic arm: 5-DoF, 6-DoF, and SCARA to compare which are most efficient in tracing paths.

scholarly journals A kinematic control algorithm for blasthole drilling robotic arm in tunneling

2017 ◽  
Vol 20 (K5) ◽  
pp. 13-22
Author(s):  
Thai Hong Nguyen ◽  
Thai Quang Nguyen
Keyword(s):  
Control Algorithm ◽  
Robotic Arm ◽  
Underground Construction ◽  
Robotic Arms ◽  
Kinematic Control ◽  
Typical Method

The most typical method of tunneling in complicated geographical conditions is still blasthole drilling. To improve the efficiency of the work, Vietnam and several other countries have used drilling devices fitted with self-propelled hydraulic seven-link robotic arms which can also be manually controlled to modernize the drilling and blasting processes and improve the accuracy of the work. The task of controlling the robotic arm to automatically drill the holes exactly as specified in the passport of blasting prepared by geotechnical and underground construction engineers requires a control algorithm for the controller of the robot. The matter will be clearly presented in this article.

scholarly journals Gesture Control Robotic Arm

2020 ◽  
Vol 9 (2) ◽  
pp. 51
Author(s):  
D Sreeharsha
Keyword(s):  
Real World ◽  
Robotic Arm ◽  
Hand Gesture ◽  
Human Hand ◽  
Motion Sensor ◽  
Leap Motion ◽  
Vital Part ◽  
Gesture Control ◽  
End Effectors ◽  
Set Of Points

Robot plays a vital part in making our lives more facile. The scope of this project is to provide a relation between human and machine by the interaction of human hand and robotic arm. The arm consists of five Degree of Freedom (DOF) and an end effectors, which allows the interaction with the real world. Now the obligations for the controller arise and along the way settled with the exploration of leap motion sensor. As earlier, robotic arm was controlled by the keypad or joystick which required a lot of practices and calculations to manipulate the robotic arm to reach desired position. The exploitation of the leap motion results in explicitly acquiring for hand gesture and provides set of points.

Visual Simulation of Aristo Robot With Workspace Analysis

2008 ◽  
Author(s):  
Upendra K. Parghi ◽  
H. K. Raval
Keyword(s):  
Three Dimensional ◽  
Robotic Arm ◽  
Visual Simulation ◽  
Robotic Arms ◽  
Workspace Analysis ◽  
Payload Capacity ◽  
Pick And Place ◽  
Different Types ◽  
Commercial Applications ◽  
Industrial Needs

Robotics is a technology that is utilized tremendously in Industrial and Commercial Applications. Different types of robotic arms are used to fulfill the industrial needs. The aim of the work presented in this paper is to give a visual simulation of the robotic arm (Aristo Robot – 6 DOF) which can be used with offline robotic programming thereby introducing the language to the user and creating a training package for the user. This software also reduces the time as programming can be done offline. The pick and place robotic arm comprises of 6 links, which each of them has one degree of freedom (DOF) with a payload capacity of 3 kg is used for visual simulation. The main objective is to design a three dimensional graphic of a robotic arm and its movement animation that imitates the movement of actual robotic arm. The graphic design is then used as a foundation to find its limits of reach in the surrounding. Also the analysis of workspace is done to understand its workspace volume properly.

scholarly journals Low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications

2020 ◽  
Vol 1 (2) ◽  
pp. 35-42
Author(s):  
Norsinnira Zainul Azlan ◽  
Mubeenah Titilola Sanni ◽  
Ifrah Shahdad
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Kinematic Study ◽  
Human Arm ◽  
Pick And Place ◽  
The Disabled ◽  
Command Input ◽  
The Voice

This paper presents the design and development of a new low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications. Anthropomorphic robotic arms are weapons similar in scale, appearance, and functionality to humans, and functionality. The developed robotic arm was simple, lightweight, and has four degrees of freedom (DOF) at the hand, shoulder, and elbow joints. The measurement of the link was made close to the length of the human arm. The anthropomorphic robotic arm was actuated by four DC servo motors and controlled using an Arduino UNO microcontroller board. The voice recognition unit drove the command input for the targeted object. The forward and inverse kinematics of the proposed new robotic arm has been analysed and used to program the low cost anthropomorphic robotic arm prototype to reach the desired position in the pick and place operation. This paper’s contribution is in developing the low cost, light, and straightforward weight anthropomorphic arm that can be easily attached to other applications such as a wheelchair and the kinematic study of the specific robot. The low-cost robotic arm’s capability has been tested, and the experimental results show that it can perform basic pick place tasks for the disabled and humanoid applications.

scholarly journals That and There: Judging the Intent of Pointing Actions with Robotic Arms

2020 ◽  
Vol 34 (06) ◽  
pp. 10343-10351
Author(s):  
Malihe Alikhani ◽  
Baber Khalid ◽  
Rahul Shome ◽  
Chaitanya Mitash ◽  
Kostas Bekris ◽  
...  
Keyword(s):  
Common Sense ◽  
Human Subjects ◽  
Robotic Arm ◽  
Task Context ◽  
Robotic Arms ◽  
Human Partner ◽  
Pick And Place ◽  
Embodied Communication ◽  
English Speaking ◽  
And Task

Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by extending existing models from the related literature. These principles are evaluated through studies where English-speaking human subjects view animations of simulated robots instructing pick-and-place tasks. The evaluation distinguishes two classes of pointing actions that arise in pick-and-place tasks: referential pointing (identifying objects) and locating pointing (identifying locations). The study indicates that human subjects show greater flexibility in interpreting the intent of referential pointing compared to locating pointing, which needs to be more deliberate. The results also demonstrate the effects of variation in the environment and task context on the interpretation of pointing. Our corpus, experiments and design principles advance models of context, common sense reasoning and communication in embodied communication.

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