Trajectory Tracking of a Four Degree of Freedom Robotic Manipulator

Abstract

A robotic manipulator can be utilized for multiple applications. As there are some expensive and bulky robotic manipulators with multi-functionalities are available in the market but not affordable for many people, a low-cost robotic manipulator, Dobot Magician, available in the market is used in this research to add more features in it. The forward kinematics and inverse kinematics are analyzed in this research besides studying about PID and computed torque control approaches. In this research, alphabets and numbers are coded using an object-oriented programming language (C#) to make the learning of alphabet, numbers, words, and sentence writing more fun to the children. Moreover, it has been found that the same robot and the same operation can be implemented in other applications. A speech recognizer is implemented to control the robot to execute some activities of daily living tasks which make it more accessible to the elderly individuals and the people with disabilities.