Generating human-like movements for robotic arms

This is a survey paper on a robotic arm and their development. It gives a technical introduction to some of the recent research work in this field. This is a working field of research in which there are a number of outstanding open problems and an area of exploration. Nowadays, a different variety of robotic arms are commercially available. Some of them are excellent in accuracy and repeatability. In this paper, we understand the evolution of robotic arm in last 20 years and described different parameters of an arm. Type of robotic arm only depends on these parameters. Our survey may be used for knowledge and guidelines for future research work. The paper concludes with research gaps and proposed work. Robotic arm uses in the different fields like a household, workplace, and working station.

Survey of robotic arm and parameters

In this work we propose a new technique to manipulate a robotic arm which uses a depth camera to capture the user input and inverse kinematics to define the motion of the robotic arm. The presented technique is inexpensive to implement and easier to learn as compared to the current methods. Along with the easier manipulation of the robotic arm, the presented approach also adds some simple speech and gesture commands to control the end-effector which makes the interaction more intuitive.

Robot arm manipulation using depth-sensing cameras and inverse kinematics

This research work focuses on wireless controlled robotic arm using DTMF (Dual tone multi frequency) technique. The arm is designed to be a part of a coconut tree climbing robot. As the number of human coconut tree climbers is dwindling, there is a dire need for a robotic climber. The robotic arm is capable of a two axis rotational movement. The entire robotic arm can be controlled by using a remote device — mobile phone which hosts the DTMF Technology. The remote device can be used to control the movement of the arm. It can also be used to control the direction of rotation of the armatures. The use of DTMF technology for wireless transmission gives an edge over other wireless transmission techniques as the former incorporates a much better range for the transmitter and receiver.

https://www.amrita.edu/system/files/publications/dtmf-based-robotic-arm-design-and-control-for-robotic-coconut-tree-climber_0.pdf

DTMF based robotic arm design and control for robotic coconut tree climber

This paper discusses the design and low-cost implementation of direction and speed controller for an electric wheelchair actuated using a permanent magnet direct current (PMDC) motor. Most ...

Design and Low-Cost Implementation of an Electric Wheelchair Control

Humanoid robots are widely discussed in recent years. The motion planning and control of humanoid robots can be discussed based on mobility of platforms and manipulations of arms. In this paper, we propose a robotic arm which manipulation is analog to the motion of humanpsilas upper extremities. The proposed robotic arm is designed as a seven degree-of-freedom configuration. To increase the interactivity with humans, a six-axis force sensor is attached on the wrist of the robot to capture the force applied on the robotic arm. Subsequently, the robotic arm is moved following the force applied on the wrist. In addition to the compliance of humanpsilas motion, the robotic arm is capable of dynamically planning spatial trajectories for various straight lines, circles, or predefined paths. Especially, due to the structure of this seven degree-of-freedom robotic arm, we cannot find a unique solution for the inverse kinematics. In this work, we present a behavior based inverse kinematics approach to solve this problem in terms of the fuzzy reasoning. Various behaviors for a given spatial position or path, such as writing, pickup, etc., may result different inverse kinematic solution, and may generate different elbow trajectories as well. Therefore, the proposed robotic arm not only has similar structure to humans, but also represents similar behavior to humans. More specially, the compliance function makes this robotic arm possible to interact with humans. Consequently, a robotic arm with tendon driven architecture is demonstrated to validate the proposed motion planning and control approaches based on an ARM based controller.

Motion planning and control of interactive humanoid robotic arms

Powered wheelchairs are popular mobility aids for most disabled patients and elders. Most of powered wheelchairs are manipulated via a conventional joystick. The powered wheelchair user has to control the direction and velocity of a powered wheelchair in a very narrow joystick operation range. Therefore, the user's joystick command may be very sensitive to the wheelchair motions. In addition, such an operation is not analog to conventional manual wheelchairs. In this paper, a power assisted wheelchair control system is developed to perform similar operations of manual wheelchairs, while the efforts of pushing wheel rings are significantly reduced for the flat and barrier free ramp terrains. For the proposed power assisted control system, electric motors are driven according to the tactile forces between user's hands and wheel rings. The tactile forces are further combined with slopes of ramps and resistances of operations to generate wheel velocities in terms of an intelligent fuzzy control system. Therefore, the proposed power assisted wheelchair not only maintains user's motor function of upper limbs but also performs easy driving for a long distance. The performance is evaluated practically using an electromyogram (EMG) instrument that is used to measure the muscle activities of volunteers on their upper limbs. Experiment results show that the power assisted function significantly reduces the pushing or pulling forces under flat and barrier free ramp terrains.

Kuo-Wei Chiu

Papers

Motion planning and control of interactive humanoid robotic arms

Development of an intelligent power assisted wheelchair using fuzzy control systems