PAPRAS: Plug-And-Play Robotic Arm System
This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target task spaces at home, the dimensions and configuration of PAPR...
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Main Authors | , , , |
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Format | Journal Article |
Language | English |
Published |
19.02.2023
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Subjects | |
Online Access | Get full text |
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Summary: | This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play
Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking
mount(s), and software architecture including a control system. By analyzing
the target task spaces at home, the dimensions and configuration of PAPRAS are
determined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printed
structure, and it has a high payload (3kg) as a human-arm-sized manipulator. A
locking mechanism is embedded in the structure for better portability and the
3D-printed docking mount can be installed easily. PAPRAS's software
architecture is developed on an open-source framework and optimized for
low-latency multiagent-based distributed manipulator control. A process to
create new demonstrations is presented to show PAPRAS's ease of use and
efficiency. In the paper, simulations and hardware experiments are presented in
various demonstrations, including sink-to-dishwasher manipulation, coffee
making, mobile manipulation on a quadruped, and suit-up demo to validate the
hardware and software design. |
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DOI: | 10.48550/arxiv.2302.09655 |