Publication

Abstract :

In warehouses, e-commerce businesses, and a variety of industrial applications, robot manipulators are essential for manipulation and arranging items. In addition, this work presents the design establishment, workspace estimations, and structural analysis of a 4-DOF articulated dual-arm spatial manipulator for object grasping and placing at desired locations. Such manipulator arms are positioned on a movable robotic platform in pair. To construct the forward and inverse kinematic models, the mathematical modelling of the dual arm robotic platform has been carried out through the mapping of frames along with their DH-notations. The end-effector trajectory planning has been constructed with the help of the inverse kinematics approach. The dual arm manipulators carry out the task with the help of an Arduino Mega micro-controller board along with its controller. Moreover, the Robot Operating System (ROS) is used to manoeuvre the mobile platform from one place to another using a Raspberry Pi microprocessor with an Arduino Mega microcontroller board. The Dual-arm mobile robotic platform has been tested to move the material to its intended destinations.