Abstract
This paper reviews the design design, construction and performance of an affordable robotic arm of four degrees of freedom based on an Arduino controller in a home-like environment. This paper describes the kinematic design of our 4 DOF arm and the physical restrictions that this design imposes. We have also proposed two types of end-effectors to address two types of manipulation tasks: to grasp objects and to push different light switches. The arm was on board of the MYRABot platform and both were evaluated in the RoCKIn competition. This competition involves grasping and manipulation tasks that are described in the paper as well. Comments on the results of the competition and their implication in further improvement of the robot are also described in the paper.
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Lera, F.J.R., Casado, F., Olivera, V.M., Rico, F.M. (2016). Analysis and Evaluation of a Low-Cost Robotic Arm for @Home Competitions. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_48
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DOI: https://doi.org/10.1007/978-3-319-27149-1_48
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