Design, Dynamic Simulation and Test Run of the Indigenous Controller of a Multi-gripper Revolute Robot by Minimizing System Trembling

摘要

A revolute jointed robot having multiple grippers/end-effectors poses delicate issues in real-time control operation. The present paper reports the attributes of parametric design and dynamic simulation of the controller of a Multi-gripper Assistive Robot, along with results of test runs. The ensemble programming logic for the robot is developed toward controlling in-built vibration in real time. The hardware of the robotic manipulator has been accomplished in a way to minimize the inherent shaking of the manipulator's arms. Two posture-driven strategies have been formulated, pertaining to two different phases of a graspable object, namely: (a) in-plane grasping and (b) off-plane lifting. The customized program module has been made interactive in order to systemize multiple grippers.