Algorithm to Generate Trajectories in a Robotic Arm Using an LCD Touch Screen to Help Physically Disabled People

Abstract

In the last two-decade, robotics has attracted a lot of attention from the biomedical sectors, to help physically disabled people in their quotidian lives. Therefore, the research of robotics applied in the control of an anthropomorphic robotic arm to people assistance and rehabilitation has increased considerably. In this context, robotic control is one of the most important problems and is considered the main part of trajectory planning and motion control. The main solution for robotic control is inverse-kinematics, because it provides the angles of robotic arm joints. However, there are disadvantages in the algorithms presented by several authors because the trajectory calculation needs an optimization process which implies more calculations to generate an optimized trajectory. Moreover, the solutions presented by the authors implied devices where the people are dependent or require help from other people to control these devices. This article proposes an algorithm to calculate an accuracy trajectory in any time of interest using an LCD touch screen to calculate the inverse-kinematics and get the end-point of the gripper; the trajectory is calculated using a novel distribution function proposed which makes an easy way to get fast results to the trajectory planning. The obtained results show improvements to generate a safe and fast trajectory of an anthropomorphic robotic arm using an LCD touch screen allowed calculating short trajectories with minimal fingers moves.

Sensor Fusion-Based Teleoperation Control of Anthropomorphic Robotic Arm

“…In this way, the anthropomorphic robotic arm will be able to accomplish grasping and releasing objects in a certain space through the cooperative operation between the executive part and the functional part. Therefore, anthropomorphic robotic arms are widely accepted in industrial and medical fields [ 35 ]. Other detailed parameters are shown in Table 1 .…”

Applications and Trends in Social Robotics

“…Quiñonez et al [4] proposed an algorithm to calculate an accuracy trajectory at any time of interest using an LCD touch screen to calculate the inverse kinematics and find the end point of the gripper; the trajectory is calculated using a proposed novel distribution function which provides an easy way to obtain fast results in the trajectory planning. The obtained results show improvements to generate a safe and fast trajectory of an anthropomorphic robotic arm using an LCD touch screen allowed to calculate short trajectories with minimal finger moves.…”