Design and Control of Dual-Arm Cooperative Manipulator using Speech Commands

Abstract

Cooperative manipulators are among the subject of interest in the scientific community for the last few years. Here an overview of the design and control of such cooperative manipulators using Speech Commands in English, Hindi, and Tamil is discussed. Here we choose two identical Robot arms from lynxmotion, and both manipulators move in conjunction with one another to achieve more payload while grasping or handling the object by the end effector. The simultaneous control of identical robot manipulators could be performed by pronouncing simple speech commands by the end user using a smartphone, which then is converted into text format using a speech recognition engine and this text fed to servo controller helps in actuating the joints of identical robot arms. Cooperative manipulators are used for handling radioactive elements and also in the field of medicine as rehabilitation aid and also in surgeries. An Android app specifically built for this purpose communicates through Bluetooth technology makes the interface for end-user simple to control both identical robot arms simultaneously.