Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Muhammad Bilal, A. Raza, M. Rizwan, Muhammad Ahsan, H. F. Maqbool, Syed Abbas Zilqurnain Naqvi
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Abstract

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.
利用七自由度机械臂修复莫卧儿时代的历史遗迹
本研究的中心目标是提出一种使用机器人机械手修复历史遗迹的解决方案。在此过程中,目标是使用7自由度(DOF)机器人机械手清洁mihrab/muqarnas的平坦或弯曲表面,并在柱顶上书写丢失的阿拉伯语铭文。通过固定冗余关节,求解剩余的6自由度运动学逆解,推导出7自由度的运动学逆解。图像处理技术用于从给定图像中获取数据,以便机器人在柱顶上进行书法操作,以恢复丢失的铭文。通过路径规划练习,实现末端执行器在理想路径上的导航,以书写丢失的铭文,并清理muqarnas的曲面。通过MATLAB仿真验证了所提方案的有效性。结果表明,该机械手成功地沿着给定的路径完成了所期望的手板上的操作,并在肩梁上完成了书法操作。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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