A neural autonomous robotic manipulator with three degrees of freedom

摘要

This study focuses on the development of a robotic arm with three degrees of freedom designed for different applications, especially in industry, where the main contribution is the use of a low-cost robotic arm manipulator, which with the proper adjustments, mainly of speed, aims to add the concept of collaborative robotics in its most advanced versions. This study employs some classical principles of robotics, such as acquisition, image processing, and object manipulation. In this context, artificial neural networks were used for two essential functionalities: camera calibration and inverse kinematics resolution. From the results obtained with the use of the artificial neural networks (ANNs), it was possible to control the trajectory of the servo motors with the aid of software support. Also, by employing ANNs and using computer vision techniques, the robotic manipulator achieves the objectives of manipulating objects in space with a relatively acceptable error rate, considering the low-cost proposal applied. This manipulator, at first, has a didactic purpose, but the concepts and applications can be used in different areas of the industry.