Design of Pseudoinverse Method for Robotic Arm

Controller Design for a Robotic Arm System

Design of a biomimetic robotic octopus arm.

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal pl...

Design and Fabrication of Pneumatic Robotic Arm

This project aims to Design and fabricate pneumatic arm for pick and place of cylindrical objects. The handling of materials and mechanisms to pick and place of objects from lower plane to higher plane and are widely found in factories and industrial manufacturing. There are number of pneumatic arms are available which consists of so many mechanisms hence becomes expensive. The designed pneumat...

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

Design of low-cost robotic arm for education

The goal of this project was to design and implement the electronics for a robotic device – namely a robotic manipulator. The manipulator has a total of six degrees of freedom, three of which are on the manipulator itself, and the rest are in the wrist. A gripper is used as the end stage of the device. It was necessary to design the electronics so that they could be interfaced with standard har...