scholarly journals A Custom Robotic ARM in CoppeliaSim

2021 ◽  
pp. 38-50
Author(s):  
Sudip Chakraborty ◽  
P. S. Aithal
Keyword(s):  
Inverse Kinematics ◽  
Best Practice ◽  
Human Life ◽  
Robotic Arm ◽  
Research Purpose ◽  
Script Language ◽  
Step Procedure ◽  
Simulation Based ◽  
Real Robot ◽  
The Individual

Purpose: For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, we do not experiment with the practical robot. The primary issue is Practical robots are costly. The individual researcher usually cannot afford it. The second one is, the test with the real robot is risky and can damage property, human life, and itself due to bugs in the program or abnormal activity. So, it is best practice to experiment in Simulator first. When the algorithm is finalized, it can be implemented into a real robot. A researcher who starts the Robotics research, the learning curve is too long to develop a workable robot in Simulator. This paper demonstrates how we can easily create a 7 Degree of Freedom (DOF) custom robot for our research purpose. We will use the CoppeliaSim robot simulator for this purpose. It is free, opensource, and entirely GUI-based. We can create a robot without writing any code using this software. Design/Methodology/Approach: Here we describe to develop a custom robot. At first, we created a DH parameter for our robot. Then following the step-by-step procedure, the robot is created. After creating, we can attach our code on any object using LUA script language. To control the robot from external world, we can connect through TCP/IP socket communication. Establishing the communication, our robot will move depending on processed algorithm. Findings/Result: The robotic arm researcher needs robotics arm to test their forward kinematics, Inverse kinematics, statics, dynamics etc. code. Here we design our custom robots for research purpose. Originality/Value: Using CoppeliaSim, we can design custom robot for our research. Paper Type: Simulation based Research

scholarly journals An Inverse Kinematics Demonstration of a Custom Robot using C# and CoppeliaSim

2021 ◽  
pp. 78-87
Author(s):  
Sudip Chakraborty ◽  
P. S. Aithal
Keyword(s):  
Inverse Kinematics ◽  
Design Methodology ◽  
Excellent Result ◽  
User Interaction ◽  
Arm Movement ◽  
Robotic Arm ◽  
The Real ◽  
Simulation Based ◽  
Real Robot ◽  
Definite Result

Purpose: Inverse Kinematics (I.K.) is not as easy as Forward kinematics (F.K.), where we get a definite result. I.K. algorithm provides several possible solutions. From those finding the best solution is such a critical task. For standard robots which are commercially available in the market, the user is not concerned about I.K.'s complexity. They provide the control board and programming IDE to make it easy. However, when we develop a robotic arm from our D.H. parameter and driver board, complexity arises due to lots of difficulties for executing and successful completion. To make life easy, keeping CoppeliaSim background can eliminate the calculation overhead and get good results. The custom robot is running with less computation power. It may be a good approach. We are using C# for User Interaction. Following step by step, anyone can create a robust I.K. engine with little effort. The complete code is available in GitHub to test and experiment further. Design/Methodology/Approach: The data are propagated through Interprocess communication. For the user interaction, we use visual studio IDE using the most accessible language, C#. The user interaction data are sent to another application, CoppeliaSim, which calculates inverse kinematics, and effective results are displayed through robotic arm movement. Findings/Result: Implementing this procedure can get the excellent result of the robotics arm. Furthermore, by imposing the Value on the real robot, we can get effective results. It minimizes the research overhead on I.K. calculation. Originality/Value: Without knowing I.K. calculation complexity, receiving the Value, we can apply it to the real robot. Two issues we can solve here. One is the calculation, and another one is experiment overhead. Paper Type: Simulation-based Research.

scholarly journals Inverse Kinematics Data Adaptation to Non-Standard Modular Robotic Arm Consisting of Unique Rotational Modules

2021 ◽  
Vol 11 (3) ◽  
pp. 1203
Author(s):  
Štefan Ondočko ◽  
Jozef Svetlík ◽  
Michal Šašala ◽  
Zdenko Bobovský ◽  
Tomáš Stejskal ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Structural Changes ◽  
Kinematic Chain ◽  
Building Blocks ◽  
Robotic Arm ◽  
Six Degrees Of Freedom ◽  
Coordinate Vector ◽  
Mathematical Equations ◽  
The Individual

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

PENGARUH LATIHAN RANGE OF MOTION (ROM) AKTIF ASSITIF TERHADAP RENTANG GERAK SENDI PADA LANSIA YANG MENGALAMI IMMOBILISASI FISIK

2019 ◽  
Vol 13 (2) ◽  
Author(s):  
Andri Setyorini ◽  
Niken Setyaningrum
Keyword(s):  
Range Of Motion ◽  
Human Life ◽  
The Elderly ◽  
General Purpose ◽  
Test Statistic ◽  
Physical Mobility ◽  
Motion Exercise ◽  
The One ◽  
The Individual ◽  
Active Training

Background: Elderly is the final stage of the human life cycle, that is part of the inevitable life process and will be experienced by every individual. At this stage the individual undergoes many changes both physically and mentally, especially setbacks in various functions and abilities he once had. Preliminary study in Social House Tresna Wreda Yogyakarta Budhi Luhur Units there are 16 elderly who experience physical immobilization. In the social house has done various activities for the elderly are still active, but the elderly who experienced muscle weakness is not able to follow the exercise, so it needs to do ROM (Range Of Motion) exercise.   Objective: The general purpose of this research is to know the effect of Range Of Motion (ROM) Active Assitif training to increase the range of motion of joints in elderly who experience physical immobility at Social House of Tresna Werdha Yogyakarta unit Budhi Luhur.   Methode: This study was included in the type of pre-experiment, using the One Group Pretest Posttest design in which the range of motion of the joints before (pretest) and posttest (ROM) was performed  ROM. Subjects in this study were all elderly with impaired physical mobility in Social House Tresna Wreda Yogyakarta Unit Budhi Luhur a number of 14 elderly people. Data analysis in this research use paired sample t-test statistic  Result: The result of this research shows that there is influence of ROM (Range of Motion) Active training to increase of range of motion of joints in elderly who experience physical immobility at Social House Tresna Wredha Yogyakarta Unit Budhi Luhur.  Conclusion: There is influence of ROM (Range of Motion) Active training to increase of range of motion of joints in elderly who experience physical immobility at Social House Tresna Wredha Yogyakarta Unit Budhi Luhur.

ПСИХОЛОГІЧНА ДЕТЕРМІНАЦІЯ ДОМІНУЮЧОГО ІНСТИНКТУ У КОНСТРУКТИВНІЙ САМОРЕАЛІЗАЦІЇ ЖІНОК

1970 ◽  
Vol 6 (1) ◽  
pp. 184-193
Author(s):  
Ольга Віговська
Keyword(s):  
Human Life ◽  
Healthy Children ◽  
Self Disclosure ◽  
Self Identity ◽  
Social Nature ◽  
Self Actualization ◽  
Rational Organization ◽  
The Individual ◽  
Age Range

У статті теоретично обґрунтовано феномен конструктивного самозбереження особистості як ознаки самоактуалізації, розкриття власного потенціалу і побудови перспективи розвитку особистості та емпірично виявлено ознаки психологічної детермінації домінуючого інстинкту у конструктивній самореалізації жінок з різним соціальним статусом. Зазначено, що проблема самозбереження асоціюється з особливостями прояву інстинкту самозбереження людини, але потреби вищого порядку зумовлюють соціальну природу її поведінки, яка локалізована у найвищій точці самореалізації. Теоретично обгрунтовано, що самореалізація визначає тенденцію раціональної організації життя людини та проявляється у її почутті задоволеністю життям. З’ясовано, що психологічну основу конструктивного самозбереження становлять індивідуально-типологічні характеристики людини, які відображають психофізіологічні та психосоціальні резерви самореалізації особистості. Розроблена програма емпіричного дослідження, а також комплекс використаних методів математичної обробки результатів дослідження дає змогу конкретизувати психологічний зміст детермінації домінуючого інстинкту у конструктивній самореалізації жінок вікового діапазону 35-45 років та з різним соціальним статусом. У жінок, які виховують проблемну (хвору) дитину, домінує інстинкт "егофільного типу", що виражається у їх надмірному егоцентризмі і супроводжується низькими показниками самоактуалізації, на відміну від досліджуваних жінок, які виховують здорових дітей і у яких на фоні вираженої тенденції до самоактуалізації домінує базовий інстинкт "дослідницького типу" та "лібертофільного типу". This article theoretically proves constructive phenomenon of self identity as signs of self-disclosure own potential and prospects of development of individual construction. In addition, it empirically showes signs of psychological determination of the dominant instinct in a constructive self-determination of women with different social statuses. It was noted that the issue of self-preservation is associated with the peculiarities of manifestation of self-preservation instinct of man, but it needs higher-order cause social nature of the behavior that is localized at the highest point of self-realization. It theorized that self-realization determines the trend of rational organization of human life and manifests itself in its sense of life satisfaction. It was found that the psychological basis of constructive self-preservation of the individual make individually-typological characteristics of a person that reflect physiological and psychosocial reserves of self-realization. The developed program of empirical research, as well as the methods used complex mathematical processing of results of research allows to specify the content of the psychological determination of the dominant instinct of constructive self-realization а women age range of 35-45 years and with different social status. Women who bring up the problem child dominates the instinct of self-preservation, which is reflected in their excessive self-centeredness, and is accompanied by low levels of self-actualization, as opposed to the study of women who are raising healthy children and that against the backdrop of a pronounced tendency to self-actualization, dominated by basic instinct "research type" and "independent type."

Personal Values Required for Ethical Best Practice during Intrapartum Care

2018 ◽  
Vol 20 (2) ◽  
Author(s):  
Jacobeth Mmabyala Louisa Malesela
Keyword(s):  
Nursing Education ◽  
Best Practice ◽  
Personal Values ◽  
Self Control ◽  
Intrapartum Care ◽  
Performance Reviews ◽  
Qualitative Research Design ◽  
Selection Processes ◽  
The Individual ◽  
Recruitment And Selection

Women bring into the birthing unit values which include preferences, concerns and expectations that are involved in decision-making during intrapartum care. When midwives fail to meet the women’s values, they experience such care as being inhumane and degrading, thus affecting the childbirth outcomes. The inhumane and degrading care includes a lack of sympathy and empathy, as well as a lack of attention to privacy and confidentiality. Midwives’ possession of the required personal values and the ability to integrate women’s values are vital to enhance ethical best practice during intrapartum care. The aim of the study was to explore and to describe the midwives’ personal values that are required for ethical best practice during intrapartum care. The birthing unit at a public hospital in the Gauteng province of South Africa formed the context of the study. A qualitative research design that was explorative, descriptive and contextual in nature was used. The following personal values emerged: (1) respect, trust and dignity; (2) justice, equality and fairness; (3) freedom of choice and autonomy; (4) integrity, honesty and consistency; (5) good character and personality; (6) self-control and rapport; and (7) open-mindedness and flexibility. The midwives’ personal values form a strong precursor that is crucial for ethical best practice during intrapartum care. The individual midwives, nursing education institutions and health facilities can use the study findings in areas such as reflective midwifery practice, the midwifery curriculum, recruitment and selection processes, and as part of key performance areas and indicators in performance reviews.

Automated Control of the Microclimate in the Premises of Pig-Breeding Complexes

2020 ◽  
pp. 103-108
Author(s):  
Viktoriya Yu. Ukhanova
Keyword(s):  
Agricultural Production ◽  
Individual Characteristics ◽  
Feed Consumption ◽  
Management Systems ◽  
Research Purpose ◽  
Energy Costs ◽  
Technical Equipment ◽  
Pig Farming ◽  
The Individual ◽  
The Cost

In the pig breeding, a large share of the production cost is accounted for by the cost of electricity and heat. Reducing energy costs is one of the important tasks of the industry. It is important to identify and study modern technologies and equipment for pig farming due to the constant increase in electricity tariffs, significant energy costs for creating and maintaining a microclimate. (Research purpose) The research purpose is in an analysis of modern available technologies and equipment for agricultural production, including pig farming, allowing to reduce the cost of production. (Materials and methods) Authors used a method for determining the standard indicators of energy consumption of energy resources in the pig industry, based on the calculation and analytical method. The article presents an analyze of automated microclimate management systems in pig breeding complexes, taking into account the individual characteristics of farms produced by OWEN. (Results and discussion) Automated microclimate management systems can improve the productivity of pig farms; reduce the cost of electrical and thermal energy, reduce the number of diseases of animal from hypothermia, high humidity or temperature in the room, feed consumption; monitor the chemical composition of the air. The article considers three options for creating a microclimate in rooms with animals, taking into account the individual characteristics of enterprises. (Conclusions) The profitability of pig production depend on the level of technical equipment of farms, automation, and the use of energy-saving technologies and equipment. The use of innovations in agricultural production makes it possible to increase labor productivity up to three times, and savings due to reduced feed costs can reach several million rubles a year.

Positive And Negative Aspects Of The Psychological Impact Of The Virtual World

2021 ◽  
Vol 03 (05) ◽  
pp. 25-29
Author(s):  
Rakhimova I.I. ◽  
◽  
Mukhiddinova U.A. ◽  
Bеrdiqulоvа G.N. ◽  
Suleymanova D.I. ◽  
...  
Keyword(s):  
Mobile Phones ◽  
Virtual World ◽  
Human Life ◽  
Psychological Impact ◽  
Economic Life ◽  
The Internet ◽  
National Values ◽  
Use Of The Internet ◽  
The Individual

In today's age of the Internet, computers and mobile phones for people of all ages are available in almost every home. In addition, in today’s world-wide pandemic, the use of the Internet for education and all aspects of cultural, socio-economic life as well as games such as games is growing rapidly. This, in turn, has a psychological effect on the individual, both positively and negatively on our society and national values. In this article, I have tried to highlight the positive and negative aspects of the internet world that affect the individual. In the article we will focus on the role of the virtual world in human life, the need not to depend on it, to use it for useful purposes.

Algebraic models based on trigonometric and Cramer's rules for computing inverse kinematics of robotic arm

2022 ◽  
Vol 1 (1) ◽  
pp. 1
Author(s):  
Riza Sulaiman ◽  
Wan Azlan Wan Hassan ◽  
Muhammad Fairuz Abd. Rauf ◽  
Zuraidy Adnan ◽  
Raja Mohd. Tariqi Raja Lope Ahmad ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Algebraic Models
Sign in / Sign up

Export Citation Format

Share Document