Implementation of Generic Multi-Purpose Robotic Arm

摘要

This decade of electronic and computer advancements have aided society significantly due to interdisciplinary approach. It implies growth in fields like 'Embedded Systems' and 'Artificial Intelligence'. This paper describes use of programmed intelligence of a robotic arm that assists imitating human arm, pick and drop operation, tracing trajectories and simulating learning algorithm. Unlike other domain-specific robotic arms, this paper proposes a multi-purpose mobile assembly mounted on wheels. The assembly model is based on human arm as it has rotational ability at wrist, elbow and shoulder. Actuators at each joint carry the torque generated by payload and overall arm load. This paper describes prototype that executes 'Reinforcement Learning' and shows that such assembly can effectively run complex algorithms. The functions specified at a higher abstract level make it a generic system.