Interactive Manipulator Arm
Mohammed Majid M. Al-Khalidy, Alaa Ali Jasim, Nidhal Habib Saleh, Zainab Mohammed Alaboo · 2020
This paper presents an intelligent 4DOF manipulator arm that supports different industrial trends. The paper proposes a motion planning algorithm depending on the image processing technique. Virtual animation software is used to design different scenarios to visualize and mimic real-world scenarios. The manipulator's arm programmed using three switching modes. The first mode is the image processing mode (automated mode) in which the camera detects and recognizes the color and the shape of the objects using contour approximation to recognize the shape of the object and take a decision regarding that. The second mode is the voice control mode; in this mode, the arm is controlled by certain voice commands. Finally, the hardware in the loop mode (computerized mode) in which the robot arm is controlled by using computer instantaneous or programmed commands. Hundreds of testing done to check the response and movement of the robot arm for the required commands and many modifications were also done to adjust and calibrate the manipulator's arm. The results showed the capability of the proposed manipulator arm of doing different tasks in different modes with good accuracy.