Development of 7 DOF Robotic Arm with Electronic Bluetooth Stethoscope for COVID Patient Medical Assesment

摘要

The study proposed the simulation of the inverse kinematics (IK) controller for the 7 DOF robotic arm custom designed to measure the lung condition of contiguous patients. For this purpose, an electronic stethoscope will be attached to the end-effector of the robot arm. Currently, no robot has been developed for this purpose. In this research, the robot arm hardware was custom designed using the modular design of the motor and the Rapid Prototyping Solidwork to develop an appropriate robot arm. Next, the Robot Operating System (ROS) simulation was performed to evaluate the accuracy and execution of the inverse kinematic controller for the robot arm. The result shows that the IK controller has an accuracy of 0.005 mm and that the execution time was fast within 200 milliseconds.