Design and Development of a Scale Mobile Base Robotic Manipulator for Indoor Painting Application

Cesar C.Z.J.; Anderson V.T.J.; Gabriel C.G.; Antony M.Y.C.; Franksua C.A.A.; Noelia V.E.Y. · 9th International Conference on Engineering and Emerging Technology, ICEET 2023 (2023) · DOI: 10.1109/iceet60227.2023.10526121

Resumen

The present investigation aims to develop a remotely controlled robotic manipulator for interior painting applications. The system incorporates an Arduino Mega microcontroller for motor control, a SolidWorks design for the mobile robotic arm, and MDF material with pulleys, gears, and bearings for the physical construction. A PCB in Altium is contemplated in the design, featuring the L298N motor controller and meeting manufacturing requirements, including a ground plane. A PID control scheme is implemented using measured motor parameters such as inertia (J), viscous friction (B), torque constant (KT), etc. It contemplates calculations for Jacobians, inverse kinematics, direct kinematics and trajectory planning. To provide a user-friendly interface, an application is developed using MIT App Inventor, which allows visualization of motor angles, end-effector position, and joystick-based control of motors, base engines. Bluetooth connectivity is established via a Bluetooth module for wireless control. The experimental results demonstrate the efficacy and feasibility of the developed robotic manipulator system.

Instituciones: Universidad Nacional de Ingeniería