Abstract
This paper focuses on the design and development of a reconfigurable three-degree-of-freedom articulated robot for conducting pick-and-place tasks. To implement the system, an Android platform for the manual control of an articulated robot using wireless Bluetooth technology was developed. This application allows the user to manually reconfigure the robot following the requirements of the integrated system via a user-friendly display. The articulated robot comprises four motors, three of which are used for positioning and orientation and finally used to carry out the pick-and-place task. An Arduino Un R3 board is used to control the movement of the links via a pulse width modulation method. We introduce a set of conveniently composed kinematic and dynamic mathematical models for positioning the robot’s arms and, in our results and discussion section, calculate and report the torque required to move each joint.
Highlights
Android operating systems can be used to carry out manual robot control using wireless Bluetooth technology to monitor the current distance between the robot and obstacles via an ultrasonic sensor
A smart trolley based on Android smartphone sensors that can move and demonstrate location to users has been developed [3, 4], and a robot arm dedicated to specific tasks based on different control approaches has been designed and developed [5]
Communication between the robot and mobile device is established through a Bluetooth device, which in asynchronous mode can handle up to 720 kbps. e Massachusetts Institute of Technology (MIT) App Inventor app was used to build the graphical user interface (GUI) for the Android platform
Summary
Android operating systems can be used to carry out manual robot control using wireless Bluetooth technology to monitor the current distance between the robot and obstacles via an ultrasonic sensor. A smart trolley based on Android smartphone sensors that can move and demonstrate location to users has been developed [3, 4], and a robot arm dedicated to specific tasks based on different control approaches has been designed and developed [5]. A number of mobile-controllable robotic arm systems have been developed. To overcome the general shortcomings of robots in terms of high cost and power consumption, lack of portability, and difficulty in obtaining an outdoor power supply, remotely controlled teleoperated mobile robots based on Wi-Fi networks have been designed [10]. Of the two basic types of networks—dedicated and nondedicated—used for communication in networked control systems, nondedicated networks are preferable for robotic control applications owing to their low costs and ready availabilities [11, 12]
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