TY - GEN
T1 - Cost-Effective 4DoF Manipulator for General Applications
AU - Magalhães, Sandro A.
AU - Moreira, António Paulo
AU - dos Santos, Filipe Neves
AU - Dias, Jorge
AU - Santos, Luis
N1 - Funding Information:
Keywords: Robotic arm · Manipulator control · Manipulator design · Position-control · 4DoF manipulator This work is financed by National Funds through the Portuguese funding agency, FCT – Funda¸cão para a Ciência e a Tecnologia, within the scholarship SFRH/BD/ 147117/2019.
Funding Information:
This work is financed by National Funds through the Portuguese funding agency, FCT ? Funda??o para a Ci?ncia e a Tecnologia, within the scholarship SFRH/BD/ 147117/2019.
Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Nowadays, robotic manipulators’ uses are broader than industrial needs. They are applied to perform agricultural tasks, consumer services, medical surgeries, among others. The development of new cost-effective robotic arms assumes a prominent position to enable their wide-spread adoption in these application areas. Bearing these ideas in mind, the objective of this paper is twofold. First, introduce the hardware and software architecture and position-control design for a four Degree of Freedom (DoF) manipulator constituted by high-resolution stepper motors and incremental encoders and a cost-effective price. Secondly, to describe the mitigation strategies adopted to lead with the manipulator’s position using incremental encoders during startup and operating modes. The described solution has a maximum circular workspace of 0.7 m and a maximum payload of 3 kg. The developed architecture was tested, inducing the manipulator to perform a square path. Tests prove an accumulative error of 12.4 mm. All the developed code for firmware and ROS drivers was made publicly available.
AB - Nowadays, robotic manipulators’ uses are broader than industrial needs. They are applied to perform agricultural tasks, consumer services, medical surgeries, among others. The development of new cost-effective robotic arms assumes a prominent position to enable their wide-spread adoption in these application areas. Bearing these ideas in mind, the objective of this paper is twofold. First, introduce the hardware and software architecture and position-control design for a four Degree of Freedom (DoF) manipulator constituted by high-resolution stepper motors and incremental encoders and a cost-effective price. Secondly, to describe the mitigation strategies adopted to lead with the manipulator’s position using incremental encoders during startup and operating modes. The described solution has a maximum circular workspace of 0.7 m and a maximum payload of 3 kg. The developed architecture was tested, inducing the manipulator to perform a square path. Tests prove an accumulative error of 12.4 mm. All the developed code for firmware and ROS drivers was made publicly available.
KW - 4DoF manipulator
KW - Manipulator control
KW - Manipulator design
KW - Position-control
KW - Robotic arm
UR - http://www.scopus.com/inward/record.url?scp=85113808724&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-82199-9_15
DO - 10.1007/978-3-030-82199-9_15
M3 - Conference contribution
AN - SCOPUS:85113808724
SN - 9783030821982
T3 - Lecture Notes in Networks and Systems
SP - 251
EP - 267
BT - Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys
A2 - Arai, Kohei
PB - Springer Science and Business Media Deutschland GmbH
T2 - Intelligent Systems Conference, IntelliSys 2021
Y2 - 2 September 2021 through 3 September 2021
ER -
