Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

Abstract

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.