Commercial Robotic Arm Research Articles

Arduino Robot Arm – Controlled by Human Gestures

Abstract: This paper presents the development and implementation of a Arduino Robot Arm controlled by human gestures. The project, named , explores the integration of hand gestures to control a six-axis robotic arm. The system utilizes flex sensors and accelerometers in a robotic glove to capture human gestures, enabling intuitive control of the robotic arm. The paper discusses the hardware components, assembly process, and the software implementation for gesture-based control. The presented solution offers a cost-effective alternative to commercial robotic arms, providing a platform for experimentation and customization.

Development Challenges of Fruit-Harvesting Robotic Arms: A Critical Review

Promotion of research and development in advanced technology must be implemented in agriculture to increase production in the current challenging environment where the demand for manual farming is decreasing due to the unavailability of skilled labor, high cost, and shortage of labor. In the last two decades, the demand for fruit harvester technologies, i.e., mechanized harvesting, manned and unmanned aerial systems, and robotics, has increased. However, several industries are working on the development of industrial-scale production of advanced harvesting technologies at low cost, but to date, no commercial robotic arm has been developed for selective harvesting of valuable fruits and vegetables, especially within controlled strictures, i.e., greenhouse and hydroponic contexts. This research article focused on all the parameters that are responsible for the development of automated robotic arms. A broad review of the related research works from the past two decades (2000 to 2022) is discussed, including their limitations and performance. In this study, data are obtained from various sources depending on the topic and scope of the review. Some common sources of data for writing this review paper are peer-reviewed journals, book chapters, and conference proceedings from Google Scholar. The entire requirement for a fruit harvester contains a manipulator for mechanical movement, a vision system for localizing and recognizing fruit, and an end-effector for detachment purposes. Performance, in terms of harvesting time, harvesting accuracy, and detection efficiency of several developments, has been summarized in this work. It is observed that improvement in harvesting efficiency and custom design of end-effectors is the main area of interest for researchers. The harvesting efficiency of the system is increased by the implementation of optimal techniques in its vision system that can acquire low recognition error rates.

Decoupled motion planning of a mobile manipulator for precision agriculture

AbstractThanks to recent developments in service robotics technologies, precision agriculture (PA) is becoming an increasingly prominent research field, and several studies were made to present and outline how the use of mobile robotic systems can help and improve farm production. In this paper, the integration of a custom-designed mobile base with a commercial robotic arm is presented, showing the functionality and features of the overall system for crop monitoring and sampling. To this aim, the motion planning problem is addressed, developing a tailored algorithm based on the so-called manipulability index, that treats the base and robotic arm mobility as two independent degrees of motion; also developing an open source closed-form inverse kinematics algorithm for the kinematically redundant manipulator. The presented methods and sub-system, even though strictly related to a specific mobile manipulator system, can be adapted not only to PA applications where a mobile manipulator is involved but also to the wider field of assistive robotics.

Review on Development of commercial Robotic Arm

The use of commercial robots is increasing in areas such as food, commodity, wood, plastics and natural philosophy, however continues to be largely targeted within the automotive business. The aim of this project has been to develop an inspiration of light-weight automaton exploitation lightweight materials like atomic number 13 and carbon fiber at the side of a recently developed stepper motor model. The articulation additionally must be made for cabling to run through on the within. it's dear to alter cables and thus the planning to scale back the friction on cable, is crucial to extend time between maintenance. A concept generation was performed supported the perform analysis, the specifications of necessities that had been established. From the thought generation, 24 property ideas divided into four teams (representing a personal a part of the full concept) were evaluated. Key Words: Robotic arm, Haptic Technology, Motor, DOF.

Development of Triaxis Electromagnetic Tactile Sensor With Adjustable Sensitivity and Measurement Range for Robot Manipulation

Tactile sensor is one of the most important sensations for human to perceive the external world. This article proposed a novel triaxis soft electromagnetic (EM) tactile sensor based on the principle of a transformer, where the sensitivity or measurement range of the designed tactile sensor can be adjusted by changing the excitation voltage (frequency or amplitude) of the primary coil. It mainly contains a primary coil, four secondary coils, and a PDMS elastomer containing a magnet, where the coils are planar coils and the four secondary coils are a four-quadrant structure. Therefore, the displacement of the magnet in the 3-D space can be obtained by decoupling the output voltages of the four secondary coils, which is equivalent to being capable of detecting the triaxis force. Theoretical analysis and model simulation were first used to study the influence of the excitation voltage of the primary coil on the output voltage of the secondary coil, which provides a theoretical basis for the adjustable sensitivity of the sensor. Then, the designed tactile sensor was prepared, and the typical performances of the adjustable sensitivity were evaluated by a commercial six-axis force/torque sensor. The results have shown the relationship between the sensitivity of the sensor and the excitation voltage of the primary coil and verified its ability to measure the triaxis force. Finally, the adjustable ability of the designed tactile sensor to measure normal force and shear force was verified by a commercial robotic arm with an electric gripper.

Lw-CNN-Based Myoelectric Signal Recognition and Real-Time Control of Robotic Arm for Upper-Limb Rehabilitation.

Deep-learning models can realize the feature extraction and advanced abstraction of raw myoelectric signals without necessitating manual selection. Raw surface myoelectric signals are processed with a deep model in this study to investigate the feasibility of recognizing upper-limb motion intents and real-time control of auxiliary equipment for upper-limb rehabilitation training. Surface myoelectric signals are collected on six motions of eight subjects' upper limbs. A light-weight convolutional neural network (Lw-CNN) and support vector machine (SVM) model are designed for myoelectric signal pattern recognition. The offline and online performance of the two models are then compared. The average accuracy is (90 ± 5)% for the Lw-CNN and (82.5 ± 3.5)% for the SVM in offline testing of all subjects, which prevails over (84 ± 6)% for the online Lw-CNN and (79 ± 4)% for SVM. The robotic arm control accuracy is (88.5 ± 5.5)%. Significance analysis shows no significant correlation (p = 0.056) among real-time control, offline testing, and online testing. The Lw-CNN model performs well in the recognition of upper-limb motion intents and can realize real-time control of a commercial robotic arm.

Design and control of an end-effector for industrial finishing applications

a bstract A strategy to improve industrial finishing applications using commercial robotic arms is presented in this paper. An end-effector is designed and prototyped as the mini manipulator, and is mounted at the end-point of a commercial robotic arm to form a macro-mini manipulator system. The developed end-effector has properties of fast response and high resolution in position control and force control. Position based force/impedance control algorithms of the end-effector are introduced, targeting on applications of polishing and deburring. Experiments are conducted by employing the integrated macro-mini manipulator system and the results are presented.

Development and deployment of a new robotics toolbox for education

ABSTRACTThis paper presents a new toolbox focussed on the teaching of robotic manipulators. The library works under Matlab and has been designed to strengthen the theoretical concepts explained during the theory lectures. The educational approach is focussed on teaching the main concepts through developing math modeling and simulation. In order to do this, the toolbox aims at the fulfillment of a set of practical sessions that allow the students to test most of the concepts of an introductory course in robotic manipulators. In addition, the library possesses features that typically needed the usage of proprietary software, such as the visualization of a realistic 3D representation of commercial robotic arms and the programming of those arms in an industrial language. The practices include the concepts of direct and inverse kinematics, inverse and direct dynamics, path planning and robot programming. As a transversal practice, during the sessions, the student is asked to choose and integrate a new robotic arm in the library, proposing a particular solution to the direct and inverse kinematic problem, as well as the inclusion of other important parameters. The library has been deployed during the last year in bachelor and master studies and has received a nice acceptance. Finally, the library has been assessed in terms of usefulness, design and usage by means of a student survey. In addition, the surveys were designed to establish a relation between the student perception of the system, the time spent on the tool and their learning achievements. © 2014 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:443–454, 2015; View this article online at wileyonlinelibrary.com/journal/cae; DOI 10.1002/cae.21615