Development of an Android Recognition Open-Loop Tracking Control of Writing Robotic Arm

摘要

Writing is one of the medium of the manifestations of the expression which is staged by going through many evolutionary phases for the time being. And most importantly robots and technology are dramatically meliorated in the 21st century. So, robotic writing hand was introduced with the collaboration with human brain and technology. The whole methodology is staged for the development of a low-cost robotic arm able to draw in an arbitrary 2-D plane through an android application. The Android app will take drawing inputs on its Android screen and the data bits are transferred to the robot through wireless standard IEEE 802.15.1 communication technology. The human friendly robotic arm uses the polar coordinate system instead of the Cartesian coordinate system for determining the end-effector position. The modified slider model with the rope-pulley mechanism makes the robot compact. The description of the mechanical and electrical design along with the practical and simulation results are presented in this paper.