International Journal on Advanced Science, Engineering and Information Technology, Vol. 12 (2022) No. 6, pages: 2258-2265, DOI:10.18517/ijaseit.12.6.16591

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

Hadha Afrisal, Ahmad Didik Setiyadi, Munawar Agus Riyadi, Rifky Ismail, Olimjon Toirov, Iwan Setiawan


Direct and indirect physical contact of humans and objects become the main medium of transmissible diseases such as COVID-19. Some strategies have been proposed to mitigate the risks of infections by minimizing physical contact, such as using robotics technology. Tele-robotics is one of the sub-fields in robotics that aims to implement physical surrogates for monitoring and controlling robots from remote distances, either autonomous, semi-autonomous, or manually guided. This paper discusses experimental research for evaluating the performance of a 4-DOF robot manipulator for pick and place tasks on small medical objects, such as test tubes in table-top scenarios. The robot manipulator is designed as an RPRR manipulator and is equipped with a gripper attached to its end-effector. Inverse kinematics and trajectory planning methods have been successfully implemented in real-time. The inverse kinematic method utilizes a pseudo-inverse Jacobian solver, and the trajectory generation utilizes a sigmoid function. The performance analysis results show that pick and place missions have been demonstrated with minimum tolerable position error, which is not more than 3.5 mm. The robot manipulator can satisfy high precision during repetitive experiments and maintain its accuracy in picking and placing standard test tubes from one rack to another within its working space. The smooth trajectories of the end-effector are achieved by implementing the sigmoid function. Thus, it satisfies the requirement for handling objects with minimum vibrations even during the actuation process with maximum speed.


Robot manipulator; actuation strategy; pick and place; healthcare assistive robot.

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