Keyboard-Based Control and Simulation of 6-DOF Robotic Arm Using ROS

Megalingam, Rajesh Kannan; Nigam, Katta; Geesala, Raviteja; Yadav, Prasant Kumar; Rangaiah, Ruthvik Chanda

doi:10.1109/ccaa.2018.8777568

Cited by 23 publications

(6 citation statements)

References 9 publications

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“…The outcome considers the efficiency of the manipulator's trajectory tracking as well as the utility of the control. A keyboard-based control and simulation of a 6-DOF robotic arm [24] provide another example. The goal of the research is to create a robotic arm that can be used for search and rescue operations and is controlled by a more user-friendly keyboard.…”

Section: Robotic Kinematicmentioning

confidence: 99%

Robotic Arm Position Control using Mamdani Fuzzy Logic on Arduino Microcontroller

Hamzah¹,

Thamrin²,

Tajjudin³

2022

JMechE

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A robotic arm is the most often used robot in manufacturing to perform the same task accurately again and over again in a controlled environment. However, direct positioning control of the robotic arm is always inaccurate as it does not consider its position in the external environment. Therefore, this work implements the Mamdani fuzzy logic in the position control of the 6 DOF robotic arm to improve the accuracy and movement of each joint at this manipulator. The implemented fuzzy logic Mamdani inference system is done in MATLAB and finally converted to the C language to accommodate the main microcontroller, Arduino UNO environment. There are 6 servo motors controlled by this approach and the result is compared with the conventional method. It is found that the Mamdani fuzzy logic controller has an average error of 0.67% while the direct control method has an average error of 2.33%. Based on this result, it shows that the use of the Mamdani fuzzy logic increases the accuracy and reduces the swaying movement after stopping the robotic arm movement.

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Section: Robotic Kinematicmentioning

confidence: 99%

Robotic Arm Position Control using Mamdani Fuzzy Logic on Arduino Microcontroller

Hamzah¹,

Thamrin²,

Tajjudin³

2022

JMechE

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“…A robot model simulation in different scenarios with input from a steering wheel is presented in [11]. The authors of [12] discussed the simulation of a 6 DOF arm ROS gazebo. The authors of [13] designed a robotic coconut tree climber called Amaran and presented results of various experiments and tests conducted on the robot to test its viability and other performance metrics.…”

Section: Related Workmentioning

confidence: 99%

Inverse Kinematics of Robot Manipulator Integrated with Image Processing Algorithms

Megalingam

Tantravahi

Tammana

et al. 2021

Advanced Computing and Intelligent Technologies

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Computer vision has many applications in various fields, such as remote sensing, face detection, and fingerprint detection. In this paper, various algorithms for motion detection, hazmat detection, and QR code detection are presented. These algorithms are implemented in OpenCV which are ROS-integrated. A camera is set up on a robot with a 5 degrees of freedom (DOF) manipulator. This robot is sent to remote locations and can gather information about the environment. This information can be the type of hazmat detected, the coordinates of the hazmat signs, etc. An inverse kinematic model of the arm is presented. A simulation of the arm configurations based on the coordinates obtained from the camera has been done using MATLAB.

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“…So by using the data available in Table 2 transform matrix for link 0 and link 1 is given in 0 1 in (8) Similarly, (9) is the transform for link 1 and link 2. 7 These are also similar kinds of transform matrices with their respective links. Finally, the transform matrix from base joint to the end effector is derived by 0 7 shown in (16).…”

Section: Forward Kinematicsmentioning

confidence: 99%

“…7 These are also similar kinds of transform matrices with their respective links. Finally, the transform matrix from base joint to the end effector is derived by 0 7 shown in (16). The orientation difference between the definitions of the gripper in URDF to the DH conventions so the rotation need to be done around y axis (17) and then need to be done around z axis (18) that is R_c shown in (19).…”

Section: Forward Kinematicsmentioning

confidence: 99%

“…Taking those inputs into consideration the 6-DOF robotic arm in the paper was designed and tested with various goal positions using different modes of control. Algorithm developed for the keyboard based control [7] of the 6 DOF robotic arm using ROS which makes the control easier. The design and simulation of this robotic arm which is visualized in RVIZ.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Multimode Control and Simulation of 6-DOF Robotic Arm in ROS

Megalingam¹,

Geesala²,

Chanda³

et al. 2020

Adv. sci. technol. eng. syst. j.

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The paper proposes the design and simulation of a 6 Degree of Freedom (DOF) robotic arm, tailored for the coconut crop harvesting, assistive robots like wheelchairs and Home robots, Search and rescue robots for disastrous environments, Collaborative robots for research use. A kinematics-based solution has been developed for the robotic arm which makes it easier to operate and use. Keyboard, GUI, Joystick are the three control interfaces used in the paper. The robotic control interfaces proposed in the paper were developed using the Robot Operating System (ROS). The 6-DOF articulated robotic arm was designed and visualized in RVIZ. The kinematics helped for the easy manipulation of the robotic arm with the end effector. The methodologies proposed in the research work are easy to operate and inexpensive. The designed 6 DOF robotic arm, the first three DOFs are for positioning of the robot's arm, while the residual three are used for manipulation of the gripper.

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Keyboard-Based Control and Simulation of 6-DOF Robotic Arm Using ROS

Cited by 23 publications

References 9 publications

Robotic Arm Position Control using Mamdani Fuzzy Logic on Arduino Microcontroller

Robotic Arm Position Control using Mamdani Fuzzy Logic on Arduino Microcontroller

Inverse Kinematics of Robot Manipulator Integrated with Image Processing Algorithms

Multimode Control and Simulation of 6-DOF Robotic Arm in ROS

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