scholarly journals An integrated system design interface for operating 8-DoF robotic arm

2022 ◽  
Author(s):  
Madhav Rao
Keyword(s):  
Upper Limb ◽  
System Integration ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robotic Arm ◽  
Robot Arm ◽  
Game Engine ◽  
Kinematic Modeling ◽  
Articulated Robot ◽  
Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

scholarly journals Aspects of Microsoft Kinect sensor application to servomotor control

2014 ◽  
Vol 62 (3) ◽  
pp. 595-601 ◽  
Author(s):  
M. Parzych ◽  
A. Dabrowski ◽  
D. Cetnarowicz
Keyword(s):  
Control System ◽  
Design Process ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robot Arm ◽  
Kinect Sensor ◽  
Optimal Method ◽  
Gesture Control ◽  
The Given ◽  
Microsoft Kinect Sensor

Abstract This paper presents the design process of a gesture control system based on the Microsoft Kinect sensor. An environment enabling implementation of the integrated system using a variety of equipment and software was selected and prepared. A method for integrating the sensor with the Arduino environment has also been discussed. Algorithms for remote gesture control of the given servodrive angle and the position of the robot arm gripper were prepared. The results of several experiments, which were carried out in order to determine the optimal method for starting, controlling, and stopping the drive and for assessment of the accuracy of the proposed method for the arm control, are presented.

Motion-Assist Arm with a Passive Joint for an Upper Limb

2020 ◽  
Vol 32 (1) ◽  
pp. 183-198
Author(s):  
Hiroaki Kozuka ◽  
Daisaku Uchijima ◽  
Hiroshi Tachiya ◽  
◽  
Keyword(s):  
Upper Limb ◽  
Control Method ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Robot Arm ◽  
Passive Joint ◽  
Target Path ◽  
Three Degree Of Freedom ◽  
Actuated Joints ◽  
Human Upper Limb

This study proposes a motion-assist arm that can accurately support the positioning of a human upper limb. The motion-assist arm is a three-degree-of-freedom (DOF) planer under-actuated robotic arm with a 1-DOF passive joint that can be driven by an human. A control method for the robot arm is as follows. First, when the human moves an output point of the arm manually, the passive joint is rotated with the movement of the output point. Then, for accurate positioning of the output point on a target path, the actuated joints are controlled according to the displacement of the passive joint. Based on the above method, the human can adjust the velocity of the output point deliberately while its position is accurately corrected by the actuated joints. To confirm its effectiveness, the authors conducted tests to assist the human’s upper limb movement along straight target paths, a square path, and free curves paths such as italic letters with the proposed robot arm prototype. From the results of the tests, the authors confirmed that the proposed robot arm can accurately position the upper limb of the human on the target paths while the human intentionally moves the upper limb. It is expected that the proposed arm will be used for rehabilitation because it can aid patients to move their arms correctly. In addition, the proposed arm will enable any human to achieve complex work easily.

Kinematic Modeling and Hardware Development of 5-DoF Robot Manipulator

2014 ◽  
Vol 612 ◽  
pp. 51-58
Author(s):  
Kumar Patel Dharmendra ◽  
K. Ramachandra ◽  
Singh Sartaj
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Robot Arm ◽  
Trigonometric Functions ◽  
Kinematic Modeling ◽  
Positional Accuracy ◽  
End Effector ◽  
Hardware Development ◽  
Articulated Robot

This paper presents a 5-DoF articulated robot manipulator and proposes a strategy for solving its inverse kinematics. The Denavit – Hartenberg (D-H) parameterization has been used to model the kinematics of the manipulator. As degree of freedom of manipulator increases, the geometrical solution for inverse kinematics becomes difficult; hence an analytical method for the same is presented. Novelty in the method presented is that no approximations of trigonometric functions are used resulting in a theoretical positional accuracy of 10-10mm of the end-effector. The articulated robotic manipulator developed makes use of integrated actuators and rapid prototyping technology enabling easy replication for educational purposes. The robot arm has been used for manipulation tasks in its workspace successfully.

Long-Distance, High-Volume Transport of Coal by Slurry Pipeline

1981 ◽  
Vol 103 (4) ◽  
pp. 322-329 ◽  
Author(s):  
T. E. Stripling ◽  
R. G. Holter
Keyword(s):  
System Design ◽  
High Volume ◽  
The United States ◽  
Volume Transport ◽  
Transportation Systems ◽  
Integrated System ◽  
Coal Slurry ◽  
Long Distance ◽  
Pump Stations ◽  
Integrated System Design

Several long-distance, high-volume coal slurry transportation systems are planned or proposed for the United States. These new systems offer a method of transport that is both economical and environmentally attractive. The design of these systems will be a challenge to the pipeline engineer since an integrated, system design of several components is necessary to achieve an optimum overall effect. The pipeline, pump stations, instrumentation and controls, slurry preparation, and utilization facilities must all be considered in the design. The purpose of this paper is to describe the system components of a large coal slurry transportation system in detail and to show the special design considerations required for the overall system design considering the interrelationships of the various components.

Industrial part localization and grasping using a robotic arm guided by 2D monocular vision

2018 ◽  
Vol 45 (6) ◽  
pp. 794-804 ◽  
Author(s):  
Zhaohui Zheng ◽  
Yong Ma ◽  
Hong Zheng ◽  
Yu Gu ◽  
Mingyu Lin
Keyword(s):  
Camera Calibration ◽  
High Precision ◽  
Calibration Method ◽  
Monocular Vision ◽  
Robotic Arm ◽  
Robot Arm ◽  
Content Type ◽  
Calibration Algorithm ◽  
Target Locating ◽  
Practical Implications

Purpose The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding. Design/methodology/approach A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration. Findings A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method. Practical implications The system has been integrated into the welding robot of an automobile company in China. Originality/value A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

2015 ◽  
Author(s):  
Peng Qi ◽  
Hongbin Liu ◽  
Lakmal Seneviratne ◽  
Kaspar Althoefer
Keyword(s):  
Preliminary Test ◽  
Industrial Applications ◽  
Robot Arm ◽  
Kinematic Modeling ◽  
Flexible Robot ◽  
Element Analysis ◽  
Robot Arms ◽  
Environmental Interactions ◽  
In Series ◽  
Fea Simulation

Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

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