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Title |
Design and Implementation of Low-Cost Articulate Manipulator for Academic Applications |
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Author |
Muhammad Asim Ali and Farhan Ali Shah |
| Citation |
Vol. 24 No. 1 pp. 17-22 |
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Abstract |
The objective of this work is to design a low cost yet fully functional 4-DOF articulate manipulator for educational applications. The design is based on general purpose, programmable smart servo motors namely the Dynamixel Ax-12. The mechanism for motion was developed by formulating the equations of kinematics and subsequent solutions for joint space variables. The trajectory of end-effector in joint variable space was determined by interpolation of a 3rd order polynomial. The solutions were verified through computer simulations and ultimately implemented on the hardware. Owing to the feedback from the built-in sensors, it is possible to correct the positioning error due to loading effects. The proposed solution offers an efficient and cost-effective platform to study the trajectory planning as well as dynamics of the manipulator. |
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Keywords |
4 DoF Manipulator, Educational Robot, Programmable Robotic Arm. |
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URL |
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|
Title |
Design and Implementation of Low-Cost Articulate Manipulator for Academic Applications |
|
Author |
Muhammad Asim Ali and Farhan Ali Shah |
| Citation |
Vol. 24 No. 1 pp. 17-22 |
|
Abstract |
The objective of this work is to design a low cost yet fully functional 4-DOF articulate manipulator for educational applications. The design is based on general purpose, programmable smart servo motors namely the Dynamixel Ax-12. The mechanism for motion was developed by formulating the equations of kinematics and subsequent solutions for joint space variables. The trajectory of end-effector in joint variable space was determined by interpolation of a 3rd order polynomial. The solutions were verified through computer simulations and ultimately implemented on the hardware. Owing to the feedback from the built-in sensors, it is possible to correct the positioning error due to loading effects. The proposed solution offers an efficient and cost-effective platform to study the trajectory planning as well as dynamics of the manipulator. |
|
Keywords |
4 DoF Manipulator, Educational Robot, Programmable Robotic Arm. |
|
URL |
