Home-Use Automatic Watering Robot Kinematic Analysis
DOI:
https://doi.org/10.54097/kjjr2757Keywords:
Watering robot, manipulator kinematic analysis, MATLAB, iterative approximation.Abstract
Watering potted plants on time and correctly can be difficult for the city staff and students. To solve that issue, employing a robot to do the watering job may be a potential solution to decrease the mortality rate of potted plants. This paper describes a robot designed for watering potted plants at home. The robot is capable of determining the location of potted plants and deciding whether to water or not through the soil moisture sensor. After receiving the signal of watering, the watering process is mainly completed by the robot arm. In the method part, the modified forward kinematic calculation method and iterative approximation inverse kinematic calculation method are informed, and the feasibility of that robot arm is discussed in the result part. Through calculation, the robot arm's forward kinematic is represented in a transformation matrix and the inverse kinematic is calculated through MATLAB to prove the correctness of the forward kinematic transformation matrix, which illustrates that this robot has feasibility in kinematics.
Downloads
References
Yamane, K., et al. Effects of interior horticultural hctivities with potted plants on human physiological and emotional status. International Society for Horticultural Science (ISHS), 2004, 639, 37-43
Asbjornsen, H., et al., Ecohydrological advances and applications in plant–water relations research: a review. Journal of Plant Ecology, 2011. 4(1-2): 3-22.
Corke, P.I., A simple and systematic approach to assigning Denavit–Hartenberg parameters. IEEE Transactions on Robotics, 2007. 23(3): 590-594.
Denavit, J. and R.S. Hartenberg, A kinematic notation for lower-pair mechanisms based on matrices. ASME. J. Appl. Mech, 1955. 22(2): 215-221
Khalil, W. and J. Kleinfinger. A new geometric notation for open and closed-loop robots. in Proceedings. IEEE International Conference on Robotics and Automation, 1986. 3: 1174-1179
Patil, A., M. Kulkarni, and A. Aswale. Analysis of the inverse kinematics for 5 DOF robot arm using D-H parameters. IEEE International Conference on Real-time Computing and Robotics (RCAR), 2017. 688-693,
Stone, H.W., Inverse Kinematics, in Kinematic Modeling, Identification, and Control of Robotic Manipulators, H.W. Stone, Editor. 1987, Springer US: Boston, MA. 79-95.
Downloads
Published
Issue
Section
License
Copyright (c) 2024 Highlights in Science, Engineering and Technology
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
