Manipulator control,sensor collection,model building for smart med - arms

• Main Contributions:

  1. Robotic arm control

     

                         Figure 1.Schematic diagram of robot joint motion

     First of all, we carried out the forward and inverse kinematics solution of the robotic arm in matlab. We used the DH method for the forward motion solution, and the analytical solution for the inverse kinematics solution. After doing the above theoretical work in Matlab, we used the ROS package provided by JAKA to customize the control of the robotic arm to meet our needs for touch at different depths and speeds.

graph TD
    classDef process fill:#E5F6FF,stroke:#73A6FF,stroke-width:2px

    Start --> GetPositionAndOrientation
    GetPositionAndOrientation --> Position[X1, Y1, Z1]
    GetPositionAndOrientation --> Orientation[X2, Y2, Z2]
    GetPositionAndOrientation --> MovementLoop

    MovementLoop --> CheckSRV2Response
    CheckSRV2Response -->|False| HandleGoalFailure
    CheckSRV2Response -->|True| HandleGoalSuccess

    HandleGoalFailure --> AdjustmentLoop
    AdjustmentLoop --> CheckTargetReached
    CheckTargetReached -->|Yes| StopMovement
    CheckTargetReached -->|No| AdjustmentLoop
    StopMovement --> PrintGoalEntered

    HandleGoalSuccess --> VerifyTargetReached
    VerifyTargetReached -->|Yes| StopMovement
    VerifyTargetReached -->|No| CalculateNextTarget
    CalculateNextTarget --> MoveToNextPoint
    MoveToNextPoint --> PrintSuccessMessage
    MoveToNextPoint --> PrintServiceStatus
    MoveToNextPoint --> MovementLoop

    class Start,GetPositionAndOrientation,MovementLoop,CheckSRV2Response,HandleGoalFailure,AdjustmentLoop,CheckTargetReached,StopMovement,PrintGoalEntered,HandleGoalSuccess,VerifyTargetReached,CalculateNextTarget,MoveToNextPoint,PrintSuccessMessage,PrintServiceStatus process

                                Figure 2.Flow chart of ROS control manipulator