An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation

Manzoor, Sarah; Ul Islam, Raza; Khalid, Aayman; Samad, Abdul; Iqbal, Jamshed

Abstract

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facilitate controller design. An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper. External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller. To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures. The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators. © 2013 Elsevier Ltd.

Citation

Manzoor, S., Ul Islam, R., Khalid, A., Samad, A., & Iqbal, J. (2014). An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation. Robotics and Computer-Integrated Manufacturing, 30(3), 351-362. https://doi.org/10.1016/j.rcim.2013.11.003

• Journal Article Type: Article
• Acceptance Date: Nov 14, 2013
• Online Publication Date: Dec 11, 2013
• Publication Date: 2014-06
• Deposit Date: Sep 14, 2021
• Journal: Robotics and Computer-Integrated Manufacturing
• Print ISSN: 0736-5845
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 30
• Issue: 3
• Pages: 351-362
• DOI: https://doi.org/10.1016/j.rcim.2013.11.003
• Keywords: Educational robotic platform; Industrial robots; Manipulator arm; Robot vision; Autonomous system
• Public URL: https://hull-repository.worktribe.com/output/3797120