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Six-degree-of-freedom manipulator wireless control system based on Internet of Things

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Abstract

The robotic arm is an automatic control device that imitates the function of a human arm and accurately recognizes specific points in the three-dimensional space according to received instructions. This article aims to study the wireless control system of six-degree-of-freedom manipulator under the Internet of Things. In this paper, the Arduino material platform is used as the main controller, combined with Arduino IDE to complete the six-degree-of-freedom manipulator and main load control program, and use APPinventor to develop Android applications, and realize the wireless control of the manipulator through Bluetooth mode. In addition, the robot arm Jacobi control algorithm is used to describe the differential mapping relationship between the robot arm motion and the camera image space, and the image is updated online through the calculation method to improve the accuracy of the robot arm light control server. Mark the control of each joint, and then collect these control signals and the position information of the six joints. In order to ensure the richness of the entry signs and the safety of the equipment, the control signal given here is a random signal, and the output signal is six connected position signals.A total of 400 input and output sample sets were used. The first 200 units were used for training and the last 200 were used for testing. The experimental results in this paper show that the performance of the six-degree-of-freedom manipulator based on the Internet of Things is 25% higher than that of the traditional machine, and the stability of the wireless control system is also improved by 18% compared with before.

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Acknowledgements

The work was supported by the project funded by National Key Research and Development Project (No.2018YFA0707305), Science and technology innovation project of colleges and universities in Shanxi Province (2019l0615), Natural Science Foundation of Shanxi Province (No.201801D121082). Open project of Shanxi equipment digitization and fault prediction Engineering Center (ZBPHM-20201105).

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  1. School of Materials Science and Engineering, Taiyuan University of Science and Technology, Taiyuan, 030024, Shanxi, China

    Yanjun Zhu, Zhisheng Wu & Cuirong Liu

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  1. Yanjun Zhu
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  2. Zhisheng Wu
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  3. Cuirong Liu
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Correspondence to Zhisheng Wu.

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Zhu, Y., Wu, Z. & Liu, C. Six-degree-of-freedom manipulator wireless control system based on Internet of Things. J Ambient Intell Human Comput 14, 1083–1092 (2023). https://doi.org/10.1007/s12652-021-03360-0

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