A Path Planning Approach Based on Q-learning for Robot Arm
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Abstract:
A path planning method based on Q-learning is proposed for robot arm. As reinforcement learning, Q-learning is widely used in the field of mobile robot navigation due to its simple and well-developed theory. However, most of researchers avoid using it for solving the robot arm path planning problem because it has to take each joints motion into account. In this study, approximate regions instead of accurate measurements are used to define new state space and joint actions. Moreover, the reward function takes the distance from current position of robots' end-effector to the goal position into account. The experimental simulation shows that the Q-learning approach is efficient and has ability to plan a collision free path for robot arm when the order of magnitude of state space is below 10 4 . Furthermore, the experimental results indicate that the number of obstacles affects the calculation time for the same iterations. The more obstacles, the less calculation time the algorithm needs. The weight coefficient in the reward function affects the convergence speed and the quality of the solutions.Keywords:
Position (finance)
Arm solution
Robot end effector
Configuration space
Abstract It is not uncommon for students in high school and college to design and build low cost robot arms. This paper summarize the results of a undergraduate assignment to design and build a low cost robot arm, as well as a robot arm controller. The robot arm controller uses accelerometers to control the motion of the robot arm. The robot arm controller can also be used to record and playback a sequence of motions for the arm. The robot arm controller is Arduino Uno Micro-controller based to keep costs down. A serial interface is also implemented for the arm controller so the arm can be controlled from a PC. Mentor from industry guide the students in the design of their robot arm and controller. The mentor is also involved in evaluating the robot arm and similar designs for use with the Robotic Operating System (ROS) and Moveit software, for possible use of Moveit on future student projects. ROS and Moveit brings interesting functions for control of robot arms. The Open Motion Planning Library (OMPL) is used by the Moveit, providing a variety of motion planning algorithms to control the students arm. A 3D Camera can be directly used by Moveit to provide obstacle avoidance functions to the robot arm. The results of the evaluation of Moveit is shown to the students in a video as well as the other results of the evaluation giving them insight to how an embedded sub-system they developed can interact as part of a complex system.
Arm solution
Arduino
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This paper attempts to present the development of the robot arm for STEM education. Most of STEM education focus on K9 students. The robot arm was developed based on the open source robot arm. Considering to build it low costly, 3D printer was used to print most of structure frames of the robot arm. In addition, position servos and ESP32 are applied in this robot arm development, and three 2-axis joysticks are used to control the robot arm motions. There are two types of motion control developed in this development, manual control and automatic control. Under the manual control mode, users are able to control the robot arm by joysticks straightforwardly. As for the automatic control, users can register specific positions and then ask the robot arm to perform orderly. With the assistance of the robot arm, instructors are able to demonstrate the robot arm in front of students for teaching the concept or principle of robot arm more efficiently.
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Arm solution
Bang-bang robot
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A macro-micro robot system is a conventional large robot (macro robot) plus a small robot (micro robot) mounted at the end point of the large robot. The macro robot carries the micro robot to the vicinity of the task, whilst the micro robot achieves the precise manipulation. Such a robot system can provide all the features of both the macro robot and the micro robot. In this investigation a planar two-link flexible robot is used as the macro-robot, an integrated laser-PSD transducer for measuring the position of the end-effector, and a micro robot consisting of translational and rotational joints for compensating for the dynamic path errors of the macro flexible robot in real time. Simulation and experimental results are given.
Arm solution
Robot end effector
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Bang-bang robot
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Cartesian coordinate robot
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This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.
Arm solution
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Technology is growing in a fast pace in terms of higher technical aspects to meet the requirements of the present industrial revolution. Technically sound human being alone not sufficient to co-op with the industrial revolution. To meet the growing demands of any industry through the available human in is a toughest task. Current industry revolution 4.0 is being implemented all over the world with the help of robotic technology. To perform the routine works and simple tasks increase the use of robotic arm handlings. At present there is a vast requirement for these types of robots in industries to perform repeatable actions like moving objects, welding, painting, packing goods, assembling of parts 3D printing etc., These types of robots are called robotic arm which are used precisely in industries to complete the work easier, quicker with perfection. The robotic arm is formed by connecting all the joints, motors to activate each joint of the robotic arm. Robotic arm is controlled by the micro controllers through program. The robotic arm is generally five to seven degrees of freedom and capable of rotate in all the directions. End effector is connected at the edge of the robot which is used to pick the objects. End effector is like the fingers in our human arm, in robotics how better the program controls the end effector decides the performance of the robotic arm. This work discusses the design of the robot arm through the coppeliasim. The designed manipulator gives the accurate and reliable output for picking and placing the object.
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SMT placement equipment
Arm solution
Robotic paradigms
Industrial robot
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The objective of this paper is to develop a six D.O.F robot arm for an intelligent robot. As for the shoulder part, the harmonic drive, which has some advantages (such as zero backlash, small volume, and high reduction ratio), was used to ensure the weight of the whole arm could be supported. The kinematic equations of the robot arm have been verified in this paper. As for the links of a robot arm, the Denavit-Hartenberg (D-H) coordinate transformation method is generally used. The six axes data of the robot arm can be obtained from the Inverse Kinematics analysis. Through the Simulink function of Matlab software, we can make the forward or inverse kinematics computation of the robot arm. In the control aspect, the PC based controller and the DSP based 8 axis motion control card were used to control the robot arm. When the robot arm hardware was finished, the PID control parameters of the servo motors should be adjusted first. Finally, we make some experiments; the PC based controller can control the robot arm to grab a box through a moving path successfully.
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A robot arm has been widely used for various kinds of fields without remaining in industrial use. Versatility and flexibility is expected for the robot-arm to realize skillful operation in many fields. The purpose of this study was to propose the new mechanism of a small-sized 3-DOF effector with versatility and flexibility for multi-DOF robot-arm and to develop the robot-arm system that can realize skillful operation. The trial product was produced and the mathematical model was derived.
Robot end effector
Arm solution
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This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.
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Snake-arm robot
Cartesian coordinate robot
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Abstract As one of the most commonly employed robots in manufacturing business, robot arm has to develop into a technology capable of successing the industry 4.0 revolution. A robot arm that can interact well with humans to solve a problem becomes one of the encouraging research topics. It requires the ability to behave like humans which causes a robot arm should be utilizing intelligent peripherals. This study aims to create a robot arm design that uses a Kinect sensor as a smart peripheral to approach the human ability to see an object. As a case study, a color-based object sorting simulation was conducted. The automatic movement that the robot used is based on inverse kinematics. The experimental test shows that average percentage errors for end-effector’s position in x, y and z coordinates are 5.83%, 5.89% and 8.59%, respectively. This result has led the robot arm equipped with the Kinect sensor managed well to sort and move objects based on the color.
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Arm solution
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