PAPRAS: Plug-And-Play Robotic Arm System
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2023
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| _version_ | 1866929557527855104 |
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| author | Kim, Joohyung Mathur, Dhruv C Shin, Kazuki Taylor, Sean |
| author_facet | Kim, Joohyung Mathur, Dhruv C Shin, Kazuki Taylor, Sean |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2302_09655 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | PAPRAS: Plug-And-Play Robotic Arm System Kim, Joohyung Mathur, Dhruv C Shin, Kazuki Taylor, Sean Robotics 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. |
| title | PAPRAS: Plug-And-Play Robotic Arm System |
| topic | Robotics |
| url | https://arxiv.org/abs/2302.09655 |