Publication Type:

Conference Paper

Source:

2017 4th International Conference on Advanced Computing and Communication Systems (ICACCS), IEEE, Coimbatore, India (2017)

Keywords:

3D space, agriculture, agriculture applications, Biomimetics, control system synthesis, depth sensor, end effecter, End effectors, Human arm, Inverse kinematics, inverse kinematics algorithm, Kinect sensor, Kinematics, manipulators, microcontroller board, Microcontrollers, motion control, position control, robot joint position, robot kinematics, Robot sensing systems, Robotic Arm, robotic arm control, robotic arm design, robotic arm motion, Sensors, Service robots, user input

Abstract:

In this work we analyze various methods and techniques for the design and development of robotic arm for agricultural applications. In this paper, a technique by which a robotic arm is controlled using a depth sensor is proposed. The depth sensor captures the user input and inverse kinematics algorithm is used to define the motion of the robotic arm. We develop a robotic arm which imitates the action of human arm. The movement of the human arm in 3D space is captured, processed and replicated by the robotic arm using inverse kinematics. In first place a Kinect sensor captures the input and coordinates of the shoulder, elbow and wrist joints of the user are obtained from it. The angles at each joint required to completely describe the position of the robot's joints are calculated using an inverse kinematics technique as mentioned above. Through a proper microcontroller board, the robotic arm end effecter moves to the required position which can be used to pluck a fruit or prune a branch etc.

Cite this Research Publication

Rajesh Kannan Megalingam, Vivek, G. V., Bandyopadhyay, S., and Rahi, M. J., “Robotic Arm Design, Development and Control for Agriculture Applications”, in 2017 4th International Conference on Advanced Computing and Communication Systems (ICACCS), Coimbatore, India, 2017.

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