Modeling and Development of a Five DoF Vision Based Remote Operated Robotic Arm

Abstract

The paper depicts a remote vision based manual motion control of five degrees of freedom (DoF) articulated industrial robotic arm intended for teleoperation. Remotely operated robot arms comprise conventional industrial machines used for the extensive range of operations. They are now involved in handling heavy loads, detrimental materials or to explore uninhabitable spaces. With this in mind, a robotic system is developed to administrate this manipulation tasks from a distance to improve job safety and alleviate the function of professional. This system carries a modular mechanical design for simplifying the function and maximizing the performance of the robot arm. Live camera feeds are taken by a wide-angle camera and the data bits are transmitted to a base station. A human operator then manipulates the robot arm using a controller according to the received camera feeds. An IEEE 802.11 standard communication technique is adopted to establish a three-way communication path. The paper presents the mechanical design along with the kinematic analysis and simulation results to explicate the comprehensive control over its performance.