Decentralized Control of Robotic Arm with Elastic Joints

Shardyko, Igor; Samorodova, Maria; Titov, Victor

doi:10.1109/rusautocon49822.2020.9208206

2020 International Russian Automation Conference (RusAutoCon) 2020

DOI: 10.1109/rusautocon49822.2020.9208206

|View full text |Cite

Decentralized Control of Robotic Arm with Elastic Joints

Igor Shardyko

Maria Samorodova

Victor Titov

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2021

Publication Types

Select...

Article1

Relationship

Self Cite0

Independent1

Authors

Journals

Cited by 1 publication

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

A Custom Robotic ARM in CoppeliaSim

Chakraborty

Aithal

2021

IJAEML

View full text Add to dashboard Cite

Purpose: For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, we do not experiment with the practical robot. The primary issue is Practical robots are costly. The individual researcher usually cannot afford it. The second one is, the test with the real robot is risky and can damage property, human life, and itself due to bugs in the program or abnormal activity. So, it is best practice to experiment in Simulator first. When the algorithm is finalized, it can be implemented into a real robot. A researcher who starts the Robotics research, the learning curve is too long to develop a workable robot in Simulator. This paper demonstrates how we can easily create a 7 Degree of Freedom (DOF) custom robot for our research purpose. We will use the CoppeliaSim robot simulator for this purpose. It is free, opensource, and entirely GUI-based. We can create a robot without writing any code using this software. Design/Methodology/Approach: Here we describe to develop a custom robot. At first, we created a DH parameter for our robot. Then following the step-by-step procedure, the robot is created. After creating, we can attach our code on any object using LUA script language. To control the robot from external world, we can connect through TCP/IP socket communication. Establishing the communication, our robot will move depending on processed algorithm. Findings/Result: The robotic arm researcher needs robotics arm to test their forward kinematics, Inverse kinematics, statics, dynamics etc. code. Here we design our custom robots for research purpose. Originality/Value: Using CoppeliaSim, we can design custom robot for our research. Paper Type: Simulation based Research

show abstract

A Custom Robotic ARM in CoppeliaSim

Chakraborty

Aithal

2021

IJAEML

View full text Add to dashboard Cite

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Decentralized Control of Robotic Arm with Elastic Joints

Cited by 1 publication

References 14 publications

A Custom Robotic ARM in CoppeliaSim

A Custom Robotic ARM in CoppeliaSim

Contact Info

Product

Resources

About