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Robotic Arm

Robotic Arm

AL5B Robotic Arm

AL5B Robotic Arm

The AL5B is a 6 axis 5 DOF Robotic Arm. The AL5B robotic arm delivers fast, accurate, and repeatable movement. The robot features: base rotation, single plane shoulder, elbow, wrist motion, a functional gripper, and optional wrist rotate. The AL5B robotic arm is an affordable system with a time tested rock solid design that will last and last.

Hardware

Hardware

Hardware connections

Arduino UNO

Arduino UNO

Arduino is a tool for making computers that can sense and control more of the physical world than your desktop computer. It is -Inexpensive -Simple, clear programming environment -Open source and extensible software -Open source and extensible software -Open source and extensible hardware

Arm with Labels

Arm with Labels

GUI

GUI

MATLAB GUI

How the robotic arm works.

Overview of the Robotic Arm

This is a prototype for a smart medical surgical robot that allows the surgeon to draw a pilot line on the patient body where an incision is to be made and then leaves the rest for the robot.  A snapshot is captured by a camera and then processed using Hough transform to get the corresponding points of the shape. The user then can point out the region of interest so as to make sure no points outside the selected area are taken into consideration. Using curve fitting, the points are converted into a smooth curve. Then using transformation matrices to transfrom between camera co-ordinate system and Robot co-ordinate system as well as inverse kinematics for a configurable precision of the curve points, the joint angles are calculated. Next a trajectory that connects the joint angles is generated and robot motion is simulated in the GUI before execution with the expected resulting incision shown on screen. If results are acceptable to the surgeon, the robot is instructed to execute the incision.
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