Object locator and collector robotic arm using artificial neural networks

摘要

This paper suggests an artificial neural network approach to an object locator and picker. A robotic arm with two joints and a rotating base will function as a pick-and-place machine. The system follows the following constraints: (1) the base of the robotic arm will be situated at a predetermined and fixed position, hence limiting the area at which it can locate and pick an object and; (2) the object will be placed on a flat surface. The span of the robotic arm will determine this area. Also, it should be noted that the arm's base and joints can move for limited angles only. The area of interest by the arm will be mapped into grids with coordinates. The inputs to the artificial neural network system will be the coordinates at which the object was positioned. Its outputs will be the angles of each joint of the robotic arm such that it can pick the object at its corresponding position.