Design and implementation of Arduino based robotic arm

<p><span>This study presents the model, design, and construction of the Arduino based robotic arm, which functions across a distance as it is controlled through a mobile application. A six degree of freedom robotic arm has been designed and implemented for the purpose of this research. The design controlled by the Arduino platform receives orders from the user’s mobile application through wireless controlling signals, that is Bluetooth. The arm is made up of five rotary joints and an end effector, where rotary motion is provided by the servomotor. Each link has been first designed using solid works and then printed by 3D printer. The assembly of the parts of the robot and the motor’s mechanical shapes produce the final prototype of the arm. The Arduino has been programmed to provide rotation to each corresponding servo motor to the sliders in the designed mobile application for usage from distance.</span></p>

Position control for haptic device based on discrete-time proportional integral derivative controller

Haptic devices had known as advanced technology with the goal is creating the experiences of touch by applying forces and motions to the operator based on force feedback. Especially in unmanned aerial vehicle (UAV) applications, the position of the end-effector Falcon haptic sets the velocity command for the UAV. And the operator can feel the experience vibration of the vehicle as to the acceleration or collision with other objects through a forces feedback to the haptic device. In some emergency cases, the haptic can report to the user the dangerous situation of the UAV by changing the position of the end-effector which is be obtained by changing the angle of the motor using the inverse kinematic equation. But this solution may not accurate due to the disturbance of the system. Therefore, we proposed a position controller for the haptic based on a discrete-time proportional integral derivative (PID) controller. A Novint Falcon haptic is used to demonstrate our proposal. From hardware parameters, a Jacobian matrix is calculated, which combines with the force output from the PID controller to make the torque for the motors of the haptic. The experiment was shown that the PID has high accuracy and a small error position.

Mixed Position and Twist Space Synthesis of 3R Chains

Mixed-position kinematic synthesis is used to not only reach a certain number of precision positions, but also impose certain instantaneous motion conditions at those positions. In the traditional approach, one end-effector twist is defined at each precision position in order to achieve better guidance of the end-effector along a desired trajectory. For one-degree-of-freedom linkages, that suffices to fully specify the trajectory locally. However, for systems with a higher number of degrees of freedom, such as robotic systems, it is possible to specify a complete higher-dimensional subspace of potential twists at particular positions. In this work, we focus on the 3R serial chain. We study the three-dimensional subspaces of twists that can be defined and set the mixed-position equations to synthesize the chain. The number and type of twist systems that a chain can generate depend on the topology of the chain; we find that the spatial 3R chain can generate seven different fully defined twist systems. Finally, examples of synthesis with several fully defined and partially defined twist spaces are presented. We show that it is possible to synthesize 3R chains for feasible subspaces of different types. This allows a complete definition of potential motions at particular positions, which could be used for the design of precise interaction with contact surfaces.

Methods for Expressing Robot Intent for Human–Robot Collaboration in Shared Workspaces

Human–robot collaboration is becoming increasingly common in factories around the world; accordingly, we need to improve the interaction experiences between humans and robots working in these spaces. In this article, we report on a user study that investigated methods for providing information to a person about a robot’s intent to move when working together in a shared workspace through signals provided by the robot. In this case, the workspace was the surface of a tabletop. Our study tested the effectiveness of three motion-based and three light-based intent signals as well as the overall level of comfort participants felt while working with the robot to sort colored blocks on the tabletop. Although not significant, our findings suggest that the light signal located closest to the workspace—an LED bracelet located closest to the robot’s end effector—was the most noticeable and least confusing to participants. These findings can be leveraged to support human–robot collaborations in shared spaces.