Modeling and development of a five DoF vision based remote operated robotic arm with transmission control protocol

Abstract

This paper depicts a remote vision-based manual motion control of five degrees of freedom (DoF) articulated industrial robotic arm intended for teleoperation. Remotely operated robot arms are now involved in handling heavy loads, detrimental materials or to explore uninhabitable spaces. In this light, a robotic system is developed in this paper to administrate this manipulation tasks from a distance in order to improve job safety and to alleviate the function of professionals. The proposed system carries a modular mechanical design for simplifying the function and maximizing the performance of the robot arm. The kinematic design of the 5 DOF robotic arm is carried out first to develop a sophisticated model that reflects the motion in the real world. The verification of the kinematic model is performed by observing the output response obtained from the simulation study. The robotic system considered in this study is a fixed base robotic system where the position of the robotic manipulator is determined by the operator. Before conveying the developed system to the real world, the computer-aided design is accomplished. Thereafter, the Live camera feeds are taken by a wide-angle camera, and the data bits are transmitted to a base station. A human operator then manipulates the robot arm using a controller according to the received camera feeds. An IEEE 802.11 standard communication technique is adopted to establish a three-way communication path. The paper presents the mechanical design along with the kinematic analysis, simulation studies and its application to real world explicates the comprehensive control over its performance.