Cost-Effective 4DoF Manipulator for General Applications

Sandro A. Magalhães; António Paulo Moreira; Filipe Neves dos Santos; Jorge Dias; Luis Santos

doi:10.1007/978-3-030-82199-9_15

Cost-Effective 4DoF Manipulator for General Applications

Sandro A. Magalhães
, António Paulo Moreira
, Filipe Neves dos Santos
, Jorge Dias
, Luis Santos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	British English
Title of host publication	Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys
Editors	Kohei Arai
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	251-267
Number of pages	17
ISBN (Print)	9783030821982
DOIs	https://doi.org/10.1007/978-3-030-82199-9_15
State	Published - 2022
Event	Intelligent Systems Conference, IntelliSys 2021 - Virtual, Online Duration: 2 Sep 2021 → 3 Sep 2021

Publication series

Name	Lecture Notes in Networks and Systems
Volume	296
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	Intelligent Systems Conference, IntelliSys 2021
City	Virtual, Online
Period	2/09/21 → 3/09/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 2 Zero Hunger

Keywords

4DoF manipulator
Manipulator control
Manipulator design
Position-control
Robotic arm

Access to Document

10.1007/978-3-030-82199-9_15

OpenUrl availability

Full text

Cite this

Magalhães, S. A., Moreira, A. P., dos Santos, F. N., Dias, J., & Santos, L. (2022). Cost-Effective 4DoF Manipulator for General Applications. In K. Arai (Ed.), Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys (pp. 251-267). (Lecture Notes in Networks and Systems; Vol. 296). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-82199-9_15

Magalhães, Sandro A. ; Moreira, António Paulo ; dos Santos, Filipe Neves et al. / Cost-Effective 4DoF Manipulator for General Applications. Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys. editor / Kohei Arai. Springer Science and Business Media Deutschland GmbH, 2022. pp. 251-267 (Lecture Notes in Networks and Systems).

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abstract = "Nowadays, robotic manipulators{\textquoteright} 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{\textquoteright}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.",

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Magalhães, SA, Moreira, AP, dos Santos, FN, Dias, J & Santos, L 2022, Cost-Effective 4DoF Manipulator for General Applications. in K Arai (ed.), Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys. Lecture Notes in Networks and Systems, vol. 296, Springer Science and Business Media Deutschland GmbH, pp. 251-267, Intelligent Systems Conference, IntelliSys 2021, Virtual, Online, 2/09/21. https://doi.org/10.1007/978-3-030-82199-9_15

Cost-Effective 4DoF Manipulator for General Applications. / Magalhães, Sandro A.; Moreira, António Paulo; dos Santos, Filipe Neves et al.
Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys. ed. / Kohei Arai. Springer Science and Business Media Deutschland GmbH, 2022. p. 251-267 (Lecture Notes in Networks and Systems; Vol. 296).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Magalhães SA, Moreira AP, dos Santos FN, Dias J, Santos L. Cost-Effective 4DoF Manipulator for General Applications. In Arai K, editor, Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys. Springer Science and Business Media Deutschland GmbH. 2022. p. 251-267. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-030-82199-9_15