Design and Simulation of Micro Servo Robot in Robot Operating System

Abstract

In today's fast-paced world, robots have become a necessity for many industrial manufacturing processes. This initiated the automation in industries which fastens the process without compromising quality. Even though they do a very precise task, the difficulty arises in controlling it in the way humans need without failure. A solution to this challenge is to develop a robotic arm that is controlled by the user. It is accomplished by teaching it how to do through a master arm. The micro servo robot is a 3 DoF robotic arm with learn and play function. The purpose of this project is to develop a robotic arm for light material handling. The articulated arm use four servomotors for overall operation; three of them is used for its joints and one is used for the gripping mechanism. The steering of the robotic arm is modeled from reading the master arm movement with potentiometers and mapping these values to servos of the robotic arm. This paper presents about design, analysis and simulation of the human controlled robotic arm.