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WORKING OF ROBOTIC ARM IN INDUSTRIES

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WORKING OF ROBOTIC ARM IN INDUSTRIES

Author
KUNAL SINGH
 ABSTRACT

Design and construction of a general multipurpose robot is discussed in this work. The pro-
posed robot can be used both in civil and military fields. The design and placement of various sensors,
wheel system, mechanical arms as well as wireless communication mechanism and remote controlling
mechanism are discussed here in details. The coordination of its various parts to perform different
jobs is also discussed. The movement of the proposed robot can be controlled wirelessly either from
the control unit within its transmitter’s range or from a Bluetooth Module HC-05. In Future we will
be use GSM cellular mobile from any distance where corresponding mobile network is available to
increase the distance dependency.

Nowadays, manual labor is being reduced at big scale industries and factories to increase efficiency
and gain profit by installing robots that can do repetitive works. A onetime installation of such a
device may cost a huge amount, but in the long run, will turn out to be more profitable that manual
labor. Out of the lot, a simple robotic arm is one of the most commonly installed machines. We
are introducing the basic concepts of an Arduino controlled robotic arm project.The programmable
robotic arm finds extensive applications in its use in extreme conditions like space mission or under-
water expeditions. It is also using in nuclear power plants and in toxic atmosphere where human
surveillance is difficult.There are numerous types of robotic arm used in industries but going to give
you details on a basic prototype. The movement of parts is done by servomotor, which can rotate
approximately up to 190 degrees. The whole circuit is powered by 12-volt adapter and an Arduino
Nano is used as the controlling unit. The servo motor for robotic arm is controlled by android mobile.
The communication between mobile phone and servo robot arm is done by Bluetooth module HC-05.

After constructing the robot, it was tested in indoor and outdoor and found working well. For civil
use, it can be used in detecting gas leak in home or industry, surveillance of shopping mall, parking lot,
office, industry, bank, museum etc., helping rescue operation during natural disaster and aftermath
as well as supplying food or other essentials to the people under unreachable ruin where human
access is difficult or risky. It can also perform military surveillance like spying enemy base, exploring
unknown enemy territory, night security on various spheres, anti-intrusion defence or as a mobile
communication base during war with GSM communication from any location. The structure and
design of the proposed robot is adaptive and can be modified to enhance its capability to further level.

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 TABLE OF CONTENTS

ABSTRACT ii
CONTENTS PAGE No.

LIST OF FIGURES v

LIST OF SYMBOLS vii

1 INTRODUCTION 1
1.1 INTRODUCTION TO ROBOTIC ARM . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 USE OF ROBOTIC ARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 LITERATURE SURVEY 4
2.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 WORKING AND PARTS OF ROBOTIC ARM . . . . . . . . . . . . . . . . . . . . . 6
2.2.1 AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2.2 DEGREES OF FREEDOM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2.3 WORKING ENVELOPE AND WORKING SPACE . . . . . . . . . . . . . . . 9
2.2.4 PAYLOAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.5 SPEED AND ACCELERATION . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.6 ACCURACY AND REPEATABILITY . . . . . . . . . . . . . . . . . . . . . . 11
2.2.7 MOTION CONTROL AND DRIVE . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 BASIC MANIPULATOR GEOMETRIES . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.4 OPEN CHAIN MANIPULATOR KINEMATICS . . . . . . . . . . . . . . . . . . . . . 13
2.5 CLOSED CHAIN MANIPULATOR KINEMATICs . . . . . . . . . . . . . . . . . . . . 14
2.6 HOMOGENEOUS TRANSFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.7 RIGHT HANDED COORDINATE SYSTEMS . . . . . . . . . . . . . . . . . . . . . . 15
2.8 KINEMATICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.8.1 FORWARD KINEMATICS(FK) . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.8.2 INVERSE KINEMATICS(IK) . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

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3 METHODOLOGY 23
3.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 COMPONENTS OF ROBOTICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 ARDUINO BASED ROBOTIC ARM WITH BLUETOOTH MODULE . . . . . . . . 23
3.4 CIRCUIT DESIGN WITH EXPLANATION . . . . . . . . . . . . . . . . . . . . . . . 25
3.5 CUSTOMIZATION OF APP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.6 PROGRAMMING DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4 CONCLUSION 29

REFERENCES 30

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 LIST OF FIGURES

Sl.No. TITLE PAGE No.

1.1 Robotic Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Human vs Labour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.1 Basic robot arm. 1. Base, 2. joint, 3. link and the last part, grapper . . . . . . . . . . 5
2.2 A robotic arm with labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 A six-axis-robotic arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 A seven joint robotic arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5 A kuka 7-degree-of-freedom arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 Side dimension working envelope and top dimension working envelope . . . . . . . . . 9
2.7 Workspace of a revolute robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.8 Weight lifting robotic arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.9 Accuracy and repeatability over 10 measurements . . . . . . . . . . . . . . . . . . . . . 11
2.10 Manipulator kinematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.11 Open chain serial robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.12 Stewart platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.13 Homogeneous Transformation matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.14 Using the right hand rule to compute the direction of the z axis . . . . . . . . . . . . . 16
2.15 Using the right hand rule to compute the direction of any axis given the directions of
the other two . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.16 The right hand rule to determine the direction of positive angles. Point your right
thumb along the positive direction of the axis you wish to rotate around. Curl your
fingers. The direction that your fingers curl is the direction of positive rotation. . . . . 17
2.17 Two coordinate frames that differ by only a translation . . . . . . . . . . . . . . . . . 17
2.18 A simple arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.19 The robot arm with the joint rotated by (psi) degrees . . . . . . . . . . . . . . . . . . 18
2.20 Arm kinematics and motion planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.21 Forward kinematics by composing transformations . . . . . . . . . . . . . . . . . . . . 20
2.22 Right angle triangle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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2.23 Inverse kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.1 Key Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.2 Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3 PCB Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4 Bluetooth App Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5 Robotic arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.6 wiring of robotic arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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 LIST OF SYMBOLS

Tx - Transmission
Rx - Receiver
in - input
θ - Angle
Tcm - Transformation Matrix
x - x-coordinate axis
y - y-coordinate axis
z - z-coordinate axis

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 CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION TO ROBOTIC ARM

The field of robotics includes many branches of engineering including electronics, mechan-
ical, digital logic, artificial intelligence, nanotechnology and bioengineering. A robot can do various
types of work depending on what type of robot is being referred to. Some of them are simple and
some are quite complex. Robots are designed to do tasks that people may or may not be able to
do for them. They are used to build cars, dismantle bombs, pack boxes, answer phones, mow yards
and explore deep sea ship wrecks and many other things. A robot might be designed to perform one
particular task extremely well or a range of tasks less well. Of course, all robots by their nature can
be re-programmed to behave differently, but some are limited by their physical form. For example, a
factory robot arm can perform jobs such as cutting, welding, gluing, or acting as a fairground ride,
while a pick-and-place robot can only populate printed circuit board. A robot can be either general-
purpose autonomous robots or a dedicated one for a particular job. General-purpose autonomous
robots can perform a variety of functions independently. Typically they can navigate independently
in known spaces, handle their own re-charging needs, interface with electronic doors and elevators
and perform other basic tasks. Like computers, general-purpose robots can link with networks, soft-
ware and accessories that increase their usefulness. They may recognize people or objects, human
voice, provide companionship, monitor environmental quality, respond to alarms, pick up supplies
and perform other useful tasks. Dedicated robots are designed for a particular work[5]. Examples
of Dedicated robot are Factory robots that is mention in Figure 1.1, Tele robots, Automated fruit
harvesting machines, Domestic robots, Military robots, Rescue robots, playing robots, Mining robots,
Virtual tutors, Healthcare, Teacher assistants, Research robots and so on. Many conventional robots
are designed for a particular purpose or specific field of use. For two different types of works, two
different types of robots may be required. This involves cost as well as increase complexity in coor-
dination of different jobs of different robots. Hence, it will be more cost effective, if a multipurpose
robot is designed that can perform multiple type of works assembled in a single platform. Such a
multipurpose robot can perform multiple works simultaneously and thus save both cost and time.

1
 Figure 1.1: Robotic Arm

Hence, this work will focus on design and construction of a multipurpose robot. It is always necessary
to coordinate multiple robots or multiple works of a single multipurpose robot. This coordination
is always a challenging job and proper operation of an integrated robotic system depends mostly on
this part. Because a multipurpose robot includes various sensing and working modules that can work
simultaneously and synchronously, it saves time and cost and at the same time works are done more
efficiently. Objective of this work is to design and construct prototype of a multipurpose tactical robot
which can do dedicated as well as general purpose works. In general purpose work, it can sense several
environmental parameters, can communicate wirelessly from long distance to give alarms, can send
live video streaming etc. In dedicated part, it can be used for military purpose, cave investigation,
rescue operation, surveyor as well as for picking up and dragging things by its two mechanical arms.

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1.2 USE OF ROBOTIC ARM

The robotic arm is used for multiple industrial applications, from welding, material handling,
and thermal spraying, to painting and drilling. The robotic technology also provides human-like
dexterity in a variety of environments. These may include servicing nuclear power stations, welding
and repairing pipelines on the ocean floor, remote servicing of utility power lines, or cleaning up
radioactive and other hazardous wastes[7]. An example of where automated robotic arms are used is
in the auto-manufacturing industry. Robots have been a boom to the auto-manufacturing industry.
Most industrial robots work in auto assembly lines, putting cars together. Robots can do a lot of
this work more efficiently than human beings because they are so fast and precise. They also have
significantly reduced worker injuries, including repetitive stress injuries and more significant mishaps
that can do major harm. Additionally, the robots turn out a more consistent product at a significantly
cheaper cost than can humans. Currently, robotic-assisted auto manufacturing allows a car to be made
with much more precisely as robotic arms always drill in the exactly the same place, and they always
tighten bolts with the same amount of force, no matter how many hours they’ve been working. Finally,
robots save on the cost of labor: There are no sick days, strikes, work slowdowns or other problems
that can crop up with humans. Robots can, in fact, work around the clock with a minimum of human
supervision.[14] The auto-manufacturing industry is a specific example of where the design of our
robot can be applied. In this industry robots may be required to collect and stack tyres just as our
one does. Need of Robots compare to Human labours mention in Figure 1.2.

Figure 1.2: Human vs Labour

3
 CHAPTER 2

LITERATURE SURVEY

2.1 OVERVIEW

This is a survey paper on a robotic arm and their development. It gives a technical introduc-
tion to some of the recent research work in this field. This is a working field of research in which there
are a number of outstanding open problems and an area of exploration. Nowadays, a different variety
of robotic arms are commercially available. Some of them are excellent in accuracy and repeatability.
In this paper, we understand the evolution of robotic arm in last 20 years and described different
parameters of an arm. Type of robotic arm only depends on these parameters. Our survey may
be used for knowledge and guidelines for future research work. The paper concludes with research
gaps and proposed work. Robotic arm uses in the different fields like a household, workplace, and
working station.The robot is a machine that collects the information about the environment using
some sensors and makes a decision automatically[10]. People prefers it to use different field, such as
industry, some dangerous jobs including radioactive effects. In this point, robots are regarded as a
server. They can be managed easily and provides many advantages.Robot kinematics is the study of
the motion(kinematics) of robots. In a kinematic analysis the position, velocity and acceleration of
all the links are calculated without considering the forces that cause this motion. The relationship
between motion, and the associated forces and torques is studied in robot dynamics.Robot kinematics
deals with aspects of redundancy, collision avoidance and singularity avoidance. While dealing with
the kinematics used in the robots we deal each parts of the robot by assigning a frame of reference
to it and hence a robot with many parts may have many individual frames assigned to each movable
parts. For simplicity we deal with the single manipulator arm of the robot. Each frames are named
systematically with numbers, for example the immovable base part of the manipulator is numbered
0, and the first link joined to the base is numbered 1, and the next link 2 and similarly till n for
the last nth link. In the kinematic analysis of manipulator position, there are two separate problems
to solve: direct kinematics, and inverse kinematics. Direct kinematics involves solving the forward
transformation equation to find the location of the hand in terms of the angles and displacements
between the links[8]. Inverse kinematics involves solving the inverse transformation equation to find

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the relationships between the links of the manipulator from the location of the hand in space. In the
next chapters, inverse and forward kinematic will be represented in detail. A robot arm is known
manipulator. It is composed of a set of joints seperated in space by the arm links. The joints are
where the motion in the arm occurs. In basic, a robot arm consists of the parts: base, joints, links, and
a grapper. The base is the basic part over the arm, It may be fix or active. The joint is flexible and
joins two seperated links[15]. The link is fix and supports the grapper. The last part is a grapper. The
grapper is used to hold and move the objects. Figure 2.1 shows these parts. In the report, the manip-
ulator types are defined in details.Homogeneous transformation is used to solve kinematic problems.
This transformation specifies the location (position and orientation) of the hand in space with respect
to the base of the robot, but it does not tell us which configuration of the arm is required to achieve
this location. It is often possible to achieve the same hand position with many arm configurations. In
the next chapters, this transformation is explained in details with simple examples.

Figure 2.1: Basic robot arm. 1. Base, 2. joint, 3. link and the last part, grapper

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2.2 WORKING AND PARTS OF ROBOTIC ARM

Robotic arm is a Electro-mechanical product, its manufacture and sold rate is very high
over the world. Figure 2.2 shows A robotic arm with labels. Thousands type of arm are available
in the market and developed by different companies. Industrial use of the robotic arm is more than
the domestic because at this time robot are not used for normal purpose; it’s always used for specific
purpose and in the industry some condition where humans are not able to work i.e. high temperature,
polluted air zone, heavy weight lifting etc. Robotic arm also uses for high accuracy places where error
not allowed. Robotic arm is set a task and perform it accurately in the various environment. A robotic
arm is meant a set of rigid jointed bodies able to take different configuration, and to move between
these configurations with prescribed limits on velocity and acceleration[6]. Industrial robotic arm
differs by the size of the fixed bodies, the type of joint, the sequence in which the joints are connected
and the range of motion acceptable at each joint. The individual fixed bodies are called links. Robotic
arms are manufactured by using different parameters like number of axis, degree of freedom, working
envelope and working space that arm cover, kinematics, payload, speed and acceleration, accuracy
and repeatability, motion control and drive of an arm etc. This survey papers to summarize the
development in a robotic arm.

Figure 2.2: A robotic arm with labels

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2.2.1 AXIS

Axis are used for movement indication, one use for a line, two for a plane and three for a
point at anywhere in space. Roll pitch and yaw control are the main factors of a robotic arm axis, use
for full control. Before 1987 robots robotic arms are working. In 2-axis and 3-axis. But now there in
4-axis, in 5-axis, in 6-axis and in multi-axis robotic arms are available. Figure 2.3 shows a six axis-
robotic arm[1]. Freely moving are good for a three dimensions, rotating axis arm must be positive

Figure 2.3: A six-axis-robotic arm

interactive for good stability. Mass of arm should be less for less force of inertia at different joints,
lighter arm performs more dynamically than bulky arms at same stability level. Industrial robotic
arms are using bulky tool and weight of arm also very high, use for big construction. Robots may
become flexible and less in weight by using multiple axis arms.

2.2.2 DEGREES OF FREEDOM

Robotic arm control all points (directionally) using their degrees of freedom. A human arm
control by seven degrees of freedom, articulated arms typically have up to six degree of freedom. A
robotic arm is made by using different solid part, join by n number of joint connected, each joints
having one degree of freedom if there n number of the joint then arm have n degree of freedom (DOFs).
Figure 2.4 show a seven joint robotic arm. We can understand by n joint coordinates also known as
internal coordinates. All coordinates depend on joints and describe the relative motion of beside links.
In robotic arm with three joint having 8 degrees of freedom and when we include five finger of hand then
it became 17 degrees of freedom. In a robotic arm mounted on wheelchair having 6 degrees of freedom

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 Figure 2.4: A seven joint robotic arm

and control by a color vision system for proper object finding, a force and torque sensor, driving by
good user interface devices. In 3D vision tracking of flight, an object is possible without making strong
assumptions with 7 degrees of freedom arm. Gives capturing Robot Workspace Structure with dual
arm each having 7 degrees of freedom[15]. A robotic arm that behave like a human analog motion,
this arm was designed with 7 degrees of freedom for increasing interactivity with humans, force sensor
was attached to wrist sensor work in six axis and used calculating force apply at the arm. A 7 degrees
of freedom multipurpose arm light in weight (DLR LWR 3) used for ball catching robotic system.
Ball catching is done by a four figure having 12 degrees of freedom (DLR hand 2).

Figure 2.5: A kuka 7-degree-of-freedom arm

They also use a small basket with 7 degrees of freedom (DLR LWR 2) arm along with a
camera and fast image processing system. Two robotic arm mounted to a 7 degrees of freedom robot
with four finger hand each having 12 degrees of freedom, lightweight robot and robotic arm used
for dynamic performance. Robot use camera for tracking ball, both arm can catch simultaneously
because its design for collision avoidance. In robotic hand with high capabilities, robotic hand with

8
3 finger and 1 thumb each having 4 joint then total number of joint are 16 means each finger have
4 degree of freedom and hand working at 16 degree of freedom, size of hand is 1.5 times bigger than
human normal hand this hand can be mounted over any good arm. In a arm mounted over a table
very flexible and lightweight KUKA LWR4+ arm used, arm having 7 degree of freedom connect with
a catching hand and it can catch an empty and partially filled bottle, tennis racket, a cardboard box
and a hammer etc. Figure 2.5 show a kuka 7-degree-offreedom arm[10].

2.2.3 WORKING ENVELOPE AND WORKING SPACE

The robotic arm can cover circle in space is a working envelope of a robotic arm. Envelope
means the range can cover by arm or range of movement. If we use the arm in different possible
directions (forward and backward, up and down) then one 3D shape is an envelope, it depend on a
robotic arm and number of axis, the axis can manipulate the range of motion. Figure 2.6 show Side
dimension working envelope and top dimension working envelope. A robot can only work in their

Figure 2.6: Side dimension working envelope and top dimension working envelope

working envelope, but it’s possible to design some flexible robotic arm they can change their envelope
according to their requirement like a moving robot move with track and cover large envelope.
In combination of Roll, pitch and yaw controls are the main factor to improve target point
and flexibility, the help in increasing robotic arm efficiency then working envelope also increased.The
region where a robotic arm can fully work without any obstacles is a working space of that arm. Figure
2.7 show Workspace of a revolute robot it’s same as space requires for their all efficient activities[2].
Working space of mounted arm is less. Cover entire room for their working. An arm mounted over
table need half sphere of radius equal to a robotic arm.

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 Figure 2.7: Workspace of a revolute robot

2.2.4 PAYLOAD

A payload is a simply the weight that arm can be able to carry and movement possible with
weight, Figure 2.8 show weight lifting robotic arm. It is important to maintain payload at the time

Figure 2.8: Weight lifting robotic arm

of arms implementation and check how much weight arm can be lifted. It also includes weight of the
entire arm with tools and dependent on a use of an arm in industries robotic arm use for heavy works
so it should be high in industry arm and for normal use payload is 1 to 10 kg. range. Some tools are
used for proper weight calculation. The robotic arm have maximum payload 500gm. The arm able
up to maximum payload 7kg. industries arm having more payload than others[8].

2.2.5 SPEED AND ACCELERATION

It defines by each part and total, linear and angular movement. In this paper flexible and
active motion obtain by using a visual result of present task due to this perform real time high speed
catching, high-speed vision camera system and generate fast result during an experiment. Robotic
arm can be reached speed movement with a max velocity of 8m/s. Robotic arm all joint can work
at very high joint speed of 360degree/s, they make arm and finger high speed. The closure of the

10
fingers depend on the robot catches flying objects at different speed. The starting times for finger
motion varies with the incoming object speed, i.e., approximately 33 ms (top) versus 50 ms (Bottom).
Acceleration changes speed at each degree and calculate regarding number of axis and degree of
freedom, it decides final speed of an arm at any distance. Robotic arm can be reached maximum
acceleration upto 58m/s2. The arm can help in reactive movement using acceleration and velocity
of 13m/s. Its maximum acceleration for all the joints is 860degree/s2. Robotic arm can change
acceleration according to the situation with velocity 7m/s. Initial acceleration start at 0 to 9.81m/s2
and change according to camera results[1].

2.2.6 ACCURACY AND REPEATABILITY

Accuracy and repeatability are important factors in complete robotics performance depend
on it, and accuracy of a task is needed for performing any task in exact time and a single attempt and
repeatability is when we repeat the same task again and again and still got the same result, Figure
2.9 show Accuracy and repeatability over 10 measurements[14].

Figure 2.9: Accuracy and repeatability over 10 measurements

This arm working at distance measuring, working area 6300cm2 with an error of 10mm,
for simple objects this accuracy is sufficient but for a complex object it’s not good for preplanning
methods, so this monitoring system have limited in accuracy, efficiency and repeatability. In this
robotic arm three laser sensors used for distance measuring, range of every laser between 80-180mm,
it gives three accuracy value at three different times, 1ms with an accuracy of 1mm, 10ms with accuracy
of 0.33mm and 100ms with an accuracy of 0.1mm. One can observe the high accuracy less than 10cm
achieved even for the early predictions, with the major error occurring in the X-axis direction of the
throw. Robot accuracy change with velocity and measuring distance it give error between 3 to 10
percent so accuracy and repeatability are not good. Robot have excellent accuracy only 2mm error
in 140mm work area, also have good repeatability. Robotic hand can change estimating accuracy
according to catch positions, also maintain the trajectory of ball and coordinates system. This robot

11
can improve accuracy according to distance and time, 12cm after 0.4 sec and improve according to
time and reached to final accuracy about 0.5cm. It starts with a planning work so it little slow in
a start. There is any fixed value for a catch success rate is not given. If any catch was performing
by arm then result generate before 1.6-2sec and catch accuracy about 1.5cm, for any robotic arm for
catching should have an accuracy of 2cm in 5ms. This robot use all parts for tracking trajectory and
performing with high accuracy. The position and orientation accuracy of predictions encompassing
0.5 to 0.0 s. The repeatability of this LWR 4+ is 0.05 mm[9].

2.2.7 MOTION CONTROL AND DRIVE

For any specific work arm may at any point in working space then this is not possible with
a single movement, if all joint working then we reached all point. Robotic hand design for holding an
object like a human hand and typical deign of human finger also needs for specific motion. Robotic arm
having six joint and hand for controlling them they design multi-motion control functions[6]. Robotic
system design with all advanced structure and new technologies like advanced computer vision control
and multi-motion control. Arms motion controller used for real-time trajectory planning. Robots
are derived by a different type of motors, according to the use of joint motor choice for joint. They
connected by two type of connection first direct when motor direct connected at joint second indirect
when motor connected single or multiple gears. Robotic arm is very flexible and all joint connected
by micro motors and human-like hand with 5 fingers all have 3 joints also connected with micro
motors. This robotic arm is testing in a laboratory all flexible joint connected with DC motors so that
arm can work in different loads[4]. Robotic arm all joint connected by DC motor and wrist driven
by high-speed DC motor. Robotic arm was working at their developed mechanism, a mechanism is
high speed manipulator FALCON based and parallel driven. Robotic arm consisting brush less DC
motors the driven with the help of tooth belts and harmonic drive gears. Robotic arm supported
by a support bar, the driven by DC motor and rotate 360 degrees. Gears are also used to increase
torque and to reduce speed as a controller. Robotic arm electronic control system was working in
both close loop as well as the open loop, it use 2 ATMEGA16 L microcontroller and 7 L293D motor
drivers. Each motor control 2 DC motor one is in anticlockwise and other is in clockwise all signals
come from a microcontroller. The predicted end-effector pose is mapped into the attractor of the DS
based controller that drives the hand toward the target, its help in the predicted catching time and
reached at the same time using timing control.

12
2.3 BASIC MANIPULATOR GEOMETRIES

In this section, I looks at some basic arm geometries. As I said before, a robot arm or
manipulator is composed of a set of joints, links, grippers and base part. The joints are where the
motion in the arms occurs, while the links are of fixed construction[4]. Thus the links maintain a
fixed relationship between the joints. The joints may be actuated by motors or hydraulic actuators.
There are two sorts of robot joints, involving two sorts of motion. A revolute joint is one that allows
rotary motion about an axis of rotation. An example is the human elbow. A prismatic joint is one
that allows extensions or telescopic motion. An example is a telescoping automobile antenna.There
are some types of manipulator kinematic in Figure 2.10.

Figure 2.10: Manipulator kinematic

2.4 OPEN CHAIN MANIPULATOR KINEMATICS

In this types of the arm, mechanics of a manipulator can be represented as a kinematic chain
of rigid bodies (links) connected by revolute or prismatic joints. One end of the chain is constrained
to a base, while an end effector is mounted to the other end of the chain. Figure 2.11 shows an open
chain serial robot arm. In the open chain robot arm, The resulting motion is obtained by composition
of the elementary motions of each link with respect to the previous one. The joints must be controlled
individually[2].

13
 Figure 2.11: Open chain serial robot arm

2.5 CLOSED CHAIN MANIPULATOR KINEMATICs

Closed Chain Manipulator is much more difficult than open chain manipulator. Even analysis
has to take into account statics, constraints from other links, etc. Parallel robot is a closed chain. For
this type of robots, the best example is the Stewart platform[14]. Figure-2.12 shows Stewart platform.

2.6 HOMOGENEOUS TRANSFORMATION

Homogeneous transformation is used to calculate the new coordinate values for a robot part.
Transformation matrix must be in square form. Figure-2.13 shows the transformation matrix. 3x3
rotation matrix may change with respect to rotation value. 3x1 translation matrix shows the changing
value between the coordinate systems. Global scale value is fix and 1. Also 1x3 perspective matrix is
fix[10].

14
 Figure 2.12: Stewart platform

Figure 2.13: Homogeneous Transformation matrix

2.7 RIGHT HANDED COORDINATE SYSTEMS

In a right handed coordinate system, if you know the directions of two out of the three axes,
you can figure out the direction of the third. Let’s suppose that you know the directions of the x
and y axes. For example, suppose that x points to the left, and y points out of the paper. We want
to determine the direction of the z axis. To do so, take your right hand, and hold it so that your
fingers point in the direction of the x axis in such a way that you can curl your fingers towards the
y axis. When you do this, your thumb will point in the direction of the z axis[8]. This process is
illustrated in Figure 2.14. The chart in Figure 2.15 details how to compute the direction of any axis
given the directions of the other two.Sometimes we want to talk about rotating around one of the
axes of a coordinate frame by some angle. The two co-ordination system mention in Figure 2.17 Of
course, if you are looking down an axis and want to spin it, you need to know whether you should
spin it clockwise or counter-clockwise. We are going to use another right hand rule to determine the
direction of positive rotation mention in Figure 2.16. The steady state and rotation of robotic arm is

15
mention in Figure 2.18 and Figure 2.19.

Figure 2.14: Using the right hand rule to compute the direction of the z axis

Figure 2.15: Using the right hand rule to compute the direction of any axis given the
directions of the other two

For the Figure 2.13, the rotation matrix,

 
1 0 0
 
Rotationmatrix =  0 (2.1)
 
1 0 
 
0 0 1

and changing for x, y, z axis,

X = Xm − Xc = 5, Y = Y m − Y c = −4, Z = Zm − Zc = −1 (2.2)

Thus, The transformation matrix,

 
1 0 0 5
 
0 −4 
 
 0 1
Tm
c =  (2.3)
1 −1 
 
 0 0
 
0 0 0 1

Tkj (2.4)

The transformation that you use to take a point in j-coordinates and compute its location in k-
coordinates.

16
Figure 2.16: The right hand rule to determine the direction of positive angles. Point
your right thumb along the positive direction of the axis you wish to rotate around. Curl
your fingers. The direction that your fingers curl is the direction of positive rotation.

Figure 2.17: Two coordinate frames that differ by only a translation

If there is a rotation around the x, y or z axis, The rotation matrix reforms below,
 
1 0 0 0
 
 0 cos θ − sin θ 0 
 
x(θ) =  
 (2.5)
 0 sin θ cos θ 0 
 
0 0 0 1
 
cos θ 0 sin θ 0
 
 
 0 1 0 0 
y(θ) =   (2.6)
 − sin θ
 
0 cos θ 0 
 
0 0 0 1

17
  
cos θ − sin θ 0 0
 
 
 sin θ cos θ 0 0 
z(θ) = 


 (2.7)
 0 0 1 0 
 
0 0 0 1

Figure 2.18: A simple arm

Figure 2.19: The robot arm with the joint rotated by (psi) degrees

For the figure 2.13, Transformation matrix,

     
1 0 0 L1 cos ψ − sin ψ 0 0 1 0 0 L2
     
     
 0 1 0 0   sin ψ cos ψ 0 0   0 1 0 0 
z(θ) =  ∗ ∗  (2.8)
     
 0 0 1 0   0 0 1 0   0 0 1 0 
     
0 0 0 1 0 0 0 1 0 0 0 1
 
cos ψ − sin ψ 0 L2 cos ψ + L1
 
 
 sin ψ cos ψ 0 L2 sin ψ 
z(θ) = 


 (2.9)
 0 0 1 0 
 
0 0 0 1

18
2.8 KINEMATICS

Robotic arm have a different joint of Cartesian, articulated, spherical and parallel etc., we
arrange them for controlling a motion of a robotic arm. Robot kinematics is use for finding the
movement of multi-axis and multi-degree of freedom[9]. A chain of kinematic is used for making
structure of robot; Figure 2.20 show arm kinematics and motion planning. The priority of structure

Figure 2.20: Arm kinematics and motion planning

is different parts (rigid bodies) are properly connected at joint to provide excellent rotation, robotic
kinematics use for know about velocity, acceleration and position of all rigid body part in the robotic
system and decided all control movement. It also calculate exact force, torque, decide the role of
motion, inertia and mass at every part of a robotic arm for making an efficient arm. The kinematics
having equation and transformation between working space and coordinates of Montana outlines
formula, this method decide fixed body, motion and rate of change of connected coordinates[6]. Its
help to maintain arm and use for velocity analysis, it’s limited to one analysis. Non redundant robot
configuration solved kinematics problems, but it’s difficult to solve accuracy and dynamic effect, this
problems solved by redundancy. A redundant robot cannot work in a unique manner so it’s difficult
to define next move of redundant robot. This problem solves by real vision function monitor. The
distributed positioning is used for human arm motion, joint interfere measurement called kinematic
fatigue this concept also known as integral kinematic involvement, in this work they discussed some
support and results. In this paper, they give some new models for solving problems and proposed some
local new redundancy solutions they help to control the movement of a robotic arm and modeled and
controlled joints[7]. For solving trajectory planning they use inverse kinematics and get final position
for desired goal, its first find out goal and predict the destination and then follow the trajectory
for the goal, supplying both desired position and desired velocity. Testing directions is much faster

19
than inverse kinematics. It’s used for determining direction vector location and use for reducing
computation angles between the direction and the axis. Fuzzy reasoning use for solving present
inverse kinematic approach, different behavior for same coordinates and path like a pickup, writing
etc., they try to develop different arms trajectory and proposed a structure of an arm that look like a
human arm and also behave like a human arm. They present an idea that is robot learn from human
motion so the capability of learning and performing new motion is very high this type of learning
called imitation learning, using kinematics maintain motion data and modified it time to time by
capturing data from a human arm and there torque is minimum[15]. In this inverse kinematics used
in an algorithm for hand catching point mapping, most of the time inverse kinematics works as a
default frame of the robot system. But they added some change by mounting cameras and then it
not work on a single fixed pre-decided model it change using vision and inverse kinematics.

2.8.1 FORWARD KINEMATICS(FK)

Forward kinematics is the method for determining the orientation and position of the end
effector, given the joint angles and link lengths of the robot arm[2]. The forward position kinematics
(FPK) solves the following problem: ”Given the joint positions, what is the corresponding end effec-
tor’s pose?”. In the serial chains, the solution is always unique: one given joint position vector always
corresponds to only one single end effector pose. The FK problem is not difficult to solve, even for
a completely arbitrary kinematic structure.In the parallel chains (Stewart Gough Manipulators, it is
shown in the Figure 2.4), the solution is not unique: one set of joint coordinates has more different
end effector poses. In case of a Stewart Platform there are 40 poses possible which can be real for
some design examples. Computation is intensive but solved in closed form with the help of algebraic
geometry. The relationships between angles and sides can be found using the right angle triangle
calculated using equation 2.10 and 2.11. The Figure 2.21 and Figure 2.22 shows relationships between
angles and sides can be found using the right angle triangle. [1].

Figure 2.21: Forward kinematics by composing transformations

Methods for a forward kinematic analysis:

• using straightforward geometry.

• using transformation matrices.

20
 Figure 2.22: Right angle triangle

s ∗ sin ω = 0 (2.10)

s ∗ cos ω = aand − 2 ∗ a ∗ s ∗ cos ω(cosineTheory) (2.11)

21
2.8.2 INVERSE KINEMATICS(IK)

Inverse kinematics is the opposite of forward kinematics. This is when you have a desired
end effector position, but need to know the joint angles required to achieve it The inverse position
kinematics (IPK) solves the following problem: ”Given the actual end effector pose, what are the
corresponding joint positions?” In contrast to the forward problem, the solution of the inverse problem
is not always unique: the same end effector pose can be reached in several configurations, corresponding
to distinct joint position vectors. Although way more useful than forward kinematics, this calculation
is much more complicated too The relationships between angles and sides can be found in Figure 2.23
and equation 2.12.

Figure 2.23: Inverse kinematics

θ1 , θ2 , θ3 = f −1 (P ) (2.12)

In the figure-5.4, there are 3 unknown values. But we have 2 equations 2.13 and 2.14,

x = l1 cos θ1 + l2 cos θ3 + l3 cos θ3 (2.13)

x = l1 cos θ1 − l2 cos θ3 + l3 cos θ3 (2.14)

The problems in IK :

• There may be multiple solutions,

• For some situations, no solutions,

• Redundancy problem.

22
 CHAPTER 3

METHODOLOGY

3.1 OVERVIEW

In this section i am going to introduce the methodologies and and some Basic component
that are used in Robotic arm development

3.2 COMPONENTS OF ROBOTICS

Power Supply - The working power to the robot is provided by batteries, hydraulic, solar power, or
pneumatic power sources[8].
Actuators - Actuators are the energy conversion device used inside a robot. The major function of
actuators is to convert energy into movement.
Electric motors (DC/AC)- Motors are electromechanical component used for converting electrical
energy into its equivalent mechanical energy. In robots motors are used for providing rotational
movement.
Sensors - Sensors provide real time information on the task environment. Robots are equipped with
tactile sensor it imitates the mechanical properties of touch receptors of human fingerprints and a
vision sensor is used for computing the depth in the environment.
Controller - Controller is a part of robot that coordinates all motion of the mechanical system. It
also receives an input from immediate environment through various sensors. The heart of robot’s
controller is a microprocessor linked with the input/output and monitoring device. The command
issued by the controller activates the motion control mechanism, consisting of various controller,
actuators and amplifier[11] All the key components mention in Figure 3.1.

3.3 ARDUINO BASED ROBOTIC ARM WITH BLUETOOTH MODULE

There are numerous types of robotic arm used in industries but going to give you details on
a basic prototype. The movement of parts is done by servomotor, which can rotate approximately up
to 190 degrees. The whole circuit is powered by 12-volt adapter and an Arduino Nano is used as the

23
 Figure 3.1: Key Component

controlling unit. The servo motor for robotic arm is controlled by android mobile. The communication
between mobile phone and servo robot arm is done by Bluetooth module HC-05[9].
The mini-robot arm uses four servomotors to move the arm. Servomotors are controlled by Arduino
and connected to the PWM pin of Arduino. There are eight buttons in the android app. Out of these,
four buttons are used to control the four servo motors. One button is used for clockwise rotation
and other is used for anticlockwise of the mini robot arm.Out of eight buttons, four buttons are Red
and four are Yellow. When a button is pressed it sends a unique character to Arduino via Bluetooth.
As soon as the Arduino receives the character, its command is identified and rotates the servo motor
accordingly[1].

For clockwise rotation of servo motor the red button in the application is to be pressed.
Four buttons are used for each servomotor. When the red button is pressed it sends two types of
characters. First is the press character and the second is the release character. When a button is
pressed, a character is sent through Bluetooth and the Arduino rotates the servo motor one degree in
one cycle. If button is not released servomotor moves one degree in next cycle.

This same process is also used when yellow buttons are pressed, but this time the servo
motor rotates one degree in the anticlockwise direction. Press and release characters are shown Table
3.1 given below.

24
 Table 3.1: Press and release characters for Bluetooth module.

Switch Press Char Release Char

RED1 A a

RED2 B b

RED3 C c

RED4 D d

YELLOW1 Z z

YELLOW2 Y y

YELLOW3 X x

YELLOW4 W w

3.4 CIRCUIT DESIGN WITH EXPLANATION

In the circuit, Arduino Nano is used and Bluetooth module HC-05 is connected to it. Ser-
vomotors are connected to PWM pinsof Arduino and the circuit is powered with 12 volt DC adapter.
There are three pins in the servo motor. One is the Vcc, other is the GND, and the third
is the SIG pin. The SIG pin is connected to PWM pins of Arduino. The pins 6, 9, 10 and 11 are
connected to the servomotor. Bluetooth module has four connecting pins. Two of them are Vcc and
GND. The other two are Rx and Tx pins. Rx pin is connected to pin 8 of Arduino and TX pin is
connected to pin 12 of Arduino. In the robotic arm project using Arduino, an etched PCB is used.
The Circuit Design and PCB design mention in Figure 3.2 and 3.3.

25
 Figure 3.2: Circuit Diagram

Figure 3.3: PCB Design

3.5 CUSTOMIZATION OF APP

• Download the app “Bluetooth Electronics” from Playstore.

• Open the app and touch on empty space.

• In the right side touch on buttons, now buttons are visible in bottom.

• Drag and drop the buttons as shown in video.

• Select any button and assign the “press char” and “release char” as shown in Figure 3.4 and
Table1.

• Repeat these steps for every button.

26
 Figure 3.4: Bluetooth App Interface

3.6 PROGRAMMING DESCRIPTION

In the beginning of code, two header files are used. The first one is “SoftwareSerial.h” which
is used for Bluetooth module and the second is “servo.h” which is used for servo robot arm. Now
Bluetooth Rx and Tx pins are defined by function “Software Serial mySerial (7, 8)” in which pin 7 is
connected to Rx pin of Bluetooth module and pin8 is connected to Tx pin[1].
Now servomotors are declared by function “Servo myServo”. Four servos are declared by the
same function from line 6 to 9. After that, four integers are declared by names pos1 to pos4. All
integers are equal to 90 (degree), which is the starting position of servo motor. Another integer is
declared by name “in” which is equal to input char coming from mobile phone.
In the void setup “mySerial.begin(9600)” is used for beginning ofcommunication using Blue-
tooth. All the servo motors are activated using “myServo.attach()”In the void loop, mySerial.available()
is used in if loop, it will executewhen data receiving from mobile side. Now this char is assigned in
theintiger “in”. In the line “32 in == ‘A’ “is used inside the “if” loop when it become true pos1 starts
increasing. Same condition is used in line 33 for Z it decrease the value of pos1. These conditions are
used for pos2, pos3 and pos4. Now “myServo.write(pos)” function is used for moving at the “pos”
position. Finally prototype model of Robotic arm mention in Figure 3.5 and 3.6.

27
 Figure 3.5: Robotic arm

Figure 3.6: wiring of robotic arm

28
 CHAPTER 4

CONCLUSION

In this project i have learn about basic and advance concept of Robotic Arm.In the robot
kinematics, the gripper can be moved where is wanted using rotation of links and joints. For this
purpose, links and joints are accepted as a coordinate system individually, as using homogeneous
transformations. Robot kinematic is divided in two types: forward kinematic and inverse kinematic.
Direct(forward) kinematics involves solving the forward transformation equation to find the location
of the hand in terms of the angles and displacements between the links. Inverse kinematics involves
solving the inverse transformation equation to find the relationships between the links of the manip-
ulator from the location of the hand in space. By using user interface program, data is sended as a
packet. This packet include servo angles and error check value. This value is controled both by user
side program and hardware side program. If there is a problem, the program will notify the user.
Servos are used to move the robot arms. Usually servo works between 10ms and 20ms. But sometimes
it may be changeable. In this project I used the frequency with 10ms. For making this prototype i
use some basic Hardware component such as Arduino nano, servo motor,HC-05 Bluetooth module,
Power adapter and some connecting wires.

29
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