scholarly journals Low-Cost Automation for Gravity Compensation of Robotic Arm

2020 ◽  
Vol 10 (11) ◽  
pp. 3823
Author(s):  
William Montalvo ◽  
Juan Escobar-Naranjo ◽  
Carlos A. Garcia ◽  
Marcelo V. Garcia
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Robotic Arm ◽  
Raspberry Pi ◽  
Gravity Compensation ◽  
Pd Control ◽  
End Effector ◽  
Robotic Arms ◽  
Position Errors ◽  
Control Scheme

During the Industry 4.0 era, the open source-based robotic arms control applications have been developed, in which the control algorithms apply for movement precision in the trajectory tracking paths based on direct or reverse kinematics. Therefore, small errors in the joint positions can summarize in large position errors of the end-effector in the industrial activities. Besides the change of the end-effector position for a given variation of the set-point in manipulator joint positions depends on the manipulator configuration. This research proposes a control based on Proportional Derivative (PD) Control with gravity compensation to show the robustness of this control scheme in the robotic arm’s industrial applications. The control algorithm is developed using a low-cost board like Raspberry Pi (RPI) where the Robot Operating System (ROS) is installed. The novelty of this approach is the development of new functions in ROS to make the PD control with gravity compensation in low-cost systems. This platform brings a fast exchange of information between the Kuka™ youBot robotic arm and a graphical user’s interface that allows a transparent interaction between them.

Development of an Affordable 7-DOF Robotic Arm for Education in Mechanisms and Robotics

2016 ◽  
Author(s):  
Stylianos Kavousanakis ◽  
Anthony H. Jones ◽  
Stefan Kenway ◽  
Guowu Wei
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Structure Design ◽  
Robotic Arm ◽  
Robot Arm ◽  
Level Control ◽  
Robotic Arms ◽  
Postgraduate Level ◽  
Automation And Control ◽  
And Robotics

Although there are a number of commercialized 7-DoF robotic arms that are suitable for industrial applications and project research use, the high cost of such robotic arms has impeded the hands-on sessions constructed in the undergraduate and postgraduate level courses/modules for the purpose of studying, understanding and investigating of the redundant 7-DoF robotic arm for the education in mechanisms and robotics. In order to provide an affordable solution, this paper presents the development of a low-cost module-based 7-DoF robotic arm. Structure design of the robot arm is introduced and its kinematics is formulated based on product of exponentials representation. By using 3D printing system, the proposed robotic arm is then fabricated and assembled, and integrated with servo motors and Arduino low-level control kits, a functionally feasible prototype is developed. Tests are subsequently carried out so as to check the performance of the proposed robotic arm and to identify errors and defects for improving and optimizing the design. Integrating with MATLAB Robotic Toolbox and Arduino low-cost control platform, the robotic arm presented in this paper can be used for the purpose of mechanisms and robotics education in the courses such as robotic kinematics, automation and control, and robotic programming and planning.

Posture Control Considering Joint Stiffness of a Robotic Arm Driven by Rubberless Artificial Muscle

2016 ◽  
Vol 10 (4) ◽  
pp. 503-510 ◽  
Author(s):  
Naoki Saito ◽  
◽  
Toshiyuki Satoh ◽  
Keyword(s):  
Joint Angle ◽  
Joint Stiffness ◽  
Mathematical Expression ◽  
Artificial Muscle ◽  
Good Control ◽  
Robotic Arm ◽  
Rubber Tube ◽  
Robotic Arms ◽  
Control Scheme ◽  
The Relationship

This paper describes a joint angle control considering the passive joint stiffness of robotic arms driven by rubberless artificial muscle (RLAM), which is a pneumatic actuator. The contraction mechanism of RLAM is the same as that of the McKibben artificial muscle. Unlike the McKibben artificial muscle, RLAM is constructed using an airbag made of a nonelastic material instead of a rubber tube.The objective of this study is to realize a soft contact movement of robotic arms by applying the passive compliance characteristics of RLAMs. In this study, we derive a mathematical expression for the relationship between the output of an RLAM and the joint stiffness of a robotic arm. In addition, we suggest a control scheme for each RLAM. We confirm the validity of these suggestions experimentally. From the result, we observe a good control performance of the joint angle. A robotic arm moves smoothly according to the force added from outside by setting the passive stiffness of the arm.

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

scholarly journals Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

Mathematics ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 616
Author(s):  
Andres Pizarro-Lerma ◽  
Victor Santibañez ◽  
Ramon Garcia-Hernandez ◽  
Jorge Villalobos-Chin
Keyword(s):  
Lyapunov Function ◽  
Fuzzy Control ◽  
Trajectory Tracking ◽  
Fuzzy Controller ◽  
Joint Space ◽  
Experimental Results ◽  
Robot Dynamics ◽  
Robotic Arms ◽  
Position Errors ◽  
Control Scheme

In this paper, we propose a Sectorial Fuzzy Controller (SFC) with a feedforward compensation of the robot dynamics in joint space, evaluated at the desired angular positions, velocities, and accelerations, applied to the trajectory tracking of all revolute joints robotic arms. Global uniform asymptotic stability proof applying the direct Lyapunov theorem, is introduced for this new control scheme by using a strict Lyapunov function. This strict Lyapunov function is the first one within the field of fuzzy control that is applied to the trajectory control of robotic manipulators. With this strict Lyapunov function, a sensitivity analysis was also computed for this novel control scheme. Additionally, physical and simulation experimental results are given in comparison to the original control scheme, in which this new controller is inspired: the Proportional-Derivative (PD) controller plus feedforward compensation. The experimental results yielded better performance for the new fuzzy control scheme when compared to the classical structure, in both the joint position errors for similar or smaller values of applied torques, showing the expected tolerance to parametric deviations and uncertainties that all fuzzy controllers possess.

scholarly journals Design and Implementation of a Robotic Arm Assistant with Voice Interaction Using Machine Vision

Automation ◽  
2021 ◽  
Vol 2 (4) ◽  
pp. 238-251
Author(s):  
George Nantzios ◽  
Nikolaos Baras ◽  
Minas Dasygenis
Keyword(s):  
Quality Of Life ◽  
Low Cost ◽  
Kinematic Model ◽  
High Accuracy ◽  
Robotic Arm ◽  
High Definition ◽  
Robotic Arms ◽  
Voice Interaction ◽  
Robotic Assistant

It is evident that the technological growth of the last few decades has signaled the development of several application domains. One application domain that has expanded massively in recent years is robotics. The usage and spread of robotic systems in commercial and non-commercial environments resulted in increased productivity, efficiency, and higher quality of life. Many researchers have developed systems that improve many aspects of people’s lives, based on robotics. Most of the engineers use high-cost robotic arms, which are usually out of the reach of typical consumers. We fill this gap by presenting a low-cost and high-accuracy project to be used as a robotic assistant for every consumer. Our project aims to further improve people’s quality of life, and more specifically people with physical and mobility impairments. The robotic system is based on the Niryo-One robotic arm, equipped with a USB (Universal Serial Bus) HD (High Definition) camera on the end-effector. To achieve high accuracy, we modified the YOLO algorithm by adding novel features and additional computations to be used in the kinematic model. We evaluated the proposed system by conducting experiments using PhD students of our laboratory and demonstrated its effectiveness. The experimental results indicate that the robotic arm can detect and deliver the requested object in a timely manner with a 96.66% accuracy.

scholarly journals Low Cost Computer Vision based Shape Detection in Textile Industries with Robotic Arm

2019 ◽  
Vol 9 (1) ◽  
pp. 5311-5314
Keyword(s):  
Low Cost ◽  
Conveyor Belt ◽  
Robotic Arm ◽  
Raspberry Pi ◽  
Automation System ◽  
Detection Techniques ◽  
Pick And Place ◽  
Simulation Results ◽  
Textile Industries ◽  
Being Moved

This paper presents low cost automation system for textile industries where colour and shape are detected along with pick and place robotic arm. Edge detection techniques and Contour approximation algorithmare used for pattern detection.The main goal is to count the number of samples of each pattern or shapes. This system makes use of raspberry pi with a PI camera. The PI cam is used for capturing the image of the textiles being moved on a conveyor belt. The system is programmed using open CV platform. The simulation results using OpenCV environment coded with Python are presented

scholarly journals Toward mission-dependent long robotic arm enhancement: design method of flying watch attachment allocation based on thrust drivability

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Siyi Pan ◽  
Gen Endo
Keyword(s):  
Design Method ◽  
Automated Design ◽  
Human Experience ◽  
Robotic Arm ◽  
End Effector ◽  
Robotic Arms ◽  
Performance Metric ◽  
Compensation Mechanisms ◽  
Reaction Forces ◽  
External Forces

AbstractLong robotic arms are useful for many applications such as nuclear plant decommissioning, inspection, and firefighting. A major problem for designing and operating long robotic arms is that even small end effector reaction forces and arm gravity can result in large loads on proximal arm joints because of long moment arms. To solve that problem, previous researches focus on specifically designed long arms with certain compensation mechanisms. However, those specialized arm designs are difficult to be applied to existing long robotic arms and to be customized for different missions. To overcome those two drawbacks, we recently proposed a watch-like thrust-generating modular device, called flying watch, with the following two major advantages. Firstly, flying watch can be attached to different kinds of existing long robotic arms and generate thrusts to enhance arm strength. And we have proposed a thrust planning method for flying watch in our previous work. Secondly, since different flying watch attachment allocations can enhance the same robotic arm in different ways, flying watch attachment allocations can be customized to meet the needs of a specific mission. However, up to now, customizing flying watch attachment allocations to different missions is still based on human experience and there is no clear performance metric and automated design method for flying watch attachment allocation. To facilitate mission-dependent long arm enhancement, in this paper, we first propose a novel performance metric, called thrust drivability, which measures the ability of a flying watch attachment allocation to counteract unexpected end effector reaction forces. Then based on thrust drivability, we propose an automated design method, called Allocation Optimization based on Weighted Situations (AOWS), for generating mission-dependent flying watch attachment allocations counteracting both unexpected and known external forces. Simulations show that AOWS based allocation designs can counteract both known and unexpected external forces much better than human-experience-based allocation designs.

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.

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