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TRAINABLEROBOTI

ARMATHIVANANANA

TP0

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CHOICE OF TITLE AND OBJECTIVE

TRAINABLE ROBOTIC ARM, THIS PROJECT INVOLVES THE USAGE OF MANY ASPECTS IN MECH

WHICH IS RELATED TO THE FIELD OF MY STUDY . IT IS CHALLENGING , COST EFFICIENT AND HA

FEATURES AND DESIGN CRITERIA THAT CAN BE MODIFIED FOR DIFFERENT FUNCTIONALITIES .

THE PRIME OBJECTIVE OF THIS PROJECT IS TO EASILY TRAIN THE ROBOT TO PERFORM ACTIO

SIMPLY MOVING ROBOT ARMS AND GRIPPERS WITH YOUR OWN HANDS WHILE ROBOT RECO

MOTIONS

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PROBLEM STATEMENT

THE PROBLEM OF COMPUTING THE JOINT VARIABLES THROUGH THE POSITION AND ORIENTAT

ROBOTS END EFFECTOR IS CALLED INVERSE KINEMATICS

IK PROBLEM IS MORE COMPLE THAN FORWARD KINEMATIC PROBLEM IN CASE OF SERIAL R

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METHODOLOGY

MECHANICAL CONFIGURATION"THE MECHANICAL CONFIGURATION DESCRIBES THE PHYSICA

COMPONENTS USED TO FABRICATE THE ROBOT ARM IN THE PRESENT WORK

THE ROBOT ARM USED IN THE PRESENT WORK WILL USE SMALL SERVO MOTORS

ROBOT ARM HAS 5 DEGREES OF FREEDOM WHICH INCLUDES BASE ROTATION, SHOULDER ROTELBOW ROTATION, WRIST PITCH AND ROLL

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HARDWARE CONFIGURATION"CONFIGURATION IS DONE USING MICROCONTROLLER , ARDUIN

LABVIEW INTERFACE DEVICE CAN BE USED AS WELL

SOFTWARE CONFIGURATION"INVOLVES ROBOT ARM PROGRAMMING USIND ARDUINO WITH

PROGRAMMING LANGUAGE

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LIMITATIONS #

PLENTY OF KINEMATICS CALCULATIONS

HARDWARE CONFIGURATION SHOULD BE DONE STEP BY STEP TO AVOID COMPLICATION

CARE TAKEN TO MINIMI$E SI$E AND WEIGHT OF HARDWARE

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HOW THE ROBOT WORKS THE ROBOT RECORDS THE MOTIONS

ARDUINO STORES THE MOTIONS IN EEPROM

THE ARM CAN REPLAY THE MOTION AS NEEDED

IF WE WANT THE ROBOTIC DEVICE TO UNDERTAKE A GIVEN TASK, IMPORTANT TO CONTROL IT

SHOULD ALSO POSSESS THE CAPABILITY OF SENDING SPECIFIC ORDERS TO THE MANIPULAT

HAS TO BE CARRIED OUT IN TERMS OF POSITIONS OR VELOCITIES OF ITS FINAL EFFECTORS

SHOULD BE ABLE TO SENSE THE REAL OBTAINED POSITION OR VELOCITY

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EPECTED RESULT

A LEARNING SYSTEM CAN BE DEVELOPED WHICH IS TRAINABLE INDUSTRIAL ROBOTIC ARM B

EPERIENCE REPLAY LEARNING TECHNI!UE

THE ROBOTIC ARM TO BE SUCCESSFULLY CONTROLLED BY SIMPLY MOVING THE ARMS AND G

AND THE GRIPPER WAS ABLE TO PICK THE ASSIGNED WEIGHT WITHOUT ANY DIFFICULTIES A

THEM AND DESIRED LOCATIONS

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GANTT CHART