An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation

Abstract

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm . The kinematic and dynamic models of the robot have been derived to facilitate controller design . An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper . External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller . To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures . The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation , path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators. • The proposed platform is centred on a 6 DOF serial robotic arm. • An on-board camera permits development of autonomous applications. Other feedbacks include force and position sensors data. • Derived kinematic and dynamic models of the robot offer readily implementation of the control strategies. • The efficacy of the platform has been demonstrated by implementing two common industrial tasks; ‘pick and place’ and ‘sorting’. • The open-source platform finds potential in training and teaching courses on Robotics, Control, Mechatronics and Image-processing.