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Pick and Place Robotic Arm: A Review Paper

Sharath Surati1, Shaunak Hedaoo1, Tushar Rotti1, Vaibhav Ahuja1, Nishigandha Patel2
1UG students, Dept. of Mechanical Engg., MIT-SOE, MIT-ADT UNIVERSITY, Loni, Pune, Maharashtra, India
2Asst. Prof.: Dept. of Mechanical Engg., MIT-SOE, MIT-ADT UNIVERSITY, Loni, Pune, Maharashtra, India

---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - This review paper highlights the various aspects Joints of the manipulator connect the links that leads to the
of a robotic arm after reviewing several successful research displacement which is dither translational or rotational. A
kinematic chain is formed by the links of the arm. End
papers on manipulators.[26] Nowadays, Robotic arms are
Effector is the terminating part of this kinematic chain and it
being used in industries to minimize the human errors and can be considered as the hand of a human.
increase efficiency, productivity, precision of the operations
taking place. One of the most important advantages of
introducing Robotic arm in Industries is that it can work in
crucial conditions like high temperatures, pressures where it’s
risky for humans to work.[11] Since a manipulator comes
under Flexible Automation, they can be updated and modified
easily. We have referred several research papers which have
been experimentally verified to observe the different types of
controllers used and different methodologies used by different
authors to decide the degrees of freedom of a manipulator
used for the picking of an object and placing it at specified
position. Thus, knowledge acquainted after referring all these
papers, will help in Designing the Robotic arm.[26]

Key Words: Robotic Arm, Controller, End Effector.

1.INTRODUCTION Fig 1: Proposed Robotic Arm [11]

Types-
In today’s world, robots and humans are working
hand-in-hand for completion of their assigned task. An  Cartesian robot:- Three prismatic joints , whose
assistance robot is a robot which is self-governed and axes are coincident with a cartesian co-ordinate
can work independently to perform the given tasks. constitute a cartesian robot. Arc welding, handling
Industries, military undertakings, medical sector are precision tools and pick and place work are some of its
some of the fields where these robots are now being application.
used. Working in assignments involving high  Cylindrical robot:- A robot having axes that forms
temperatures or tasks like defusing bombs, handling a cylindrical co-ordinate system is called as cylindrical
robot. Some of its applications include assembly
molten metal might be fatal for people. Hence, Robots
operations, handling at machine tools, spot welding, and
can replace humans to perform these kinds of
handling at diecasting machines.
dangerous tasks.[11]
 Spherical robot:- A robot having an axes that
1.1 Robotic Arm Definition: forms a polar co-ordinate system is called a spherical
robot. It is used for applications such as handling
machine tools, spot welding, diecasting, fettling
A Robotic arm is basically a machine which is very similar to
machines, gas welding and arc welding etc.
a human hand, it consists of a combination of links attached
in series or parallel. It can be controlled by programming it  Scara Robot:- Two rotary joints which are parallel
to perform a specific task.[27] and are used to provide compliance in a plane
constitutes a robot termed scara. Its applications

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include pick and place work, sealant, assembly 1.3 Object Recognition:
operations and handling machine tools.
 Articulated robot: - A robot consisting of an arm In general terms, Object recognition is a collection of
having atleast 3 rotary joints is termed as Articulated. It related computer vision tasks which includes identifying
objects in digital photographs. Predicting the class of one by
is used in diecasting, assembly operations, fettling
one objects in an image is what included in image
machines, gas welding, arc welding and spray painting. classification. Object localization, one more method under
 Parallel Robot:- Arms having concurrent prismatic object recognition, refers to identification of location of a
or rotary joints constitute a parallel robot. One of the single or more than one objects in an image and drawing or
use is a mobile platform handling cockpit flight creating abounding box around their extent\boundary. So
basically, these two tasks are combined together in a Object
simulators.
detection system which again classifies and localizes one
 Anthropomorphic robot:- A robotic arm which is object or more objects in an image.
similar to a human hand i.e. consists of independent
fingers and thumbs is called as Anthropomorphic robot.

1.2 Artificial Intelligence:

Today, robots have become smarter, intelligent and
more efficient with the assistance of computer science field.
Thus, a very major role is played by Artificial intelligence by
not only in advancing the comforts of humans but also by
increasing productivity of the industries which includes cost-
efficiency both in qualitative and quantitative way.
Artificial Intelligence is nothing but a computer based
program that mainly depends on the development and
analysis of algorithms which can be termed again as a
computer program which has the capability of creating a
machine that has its own behavior and intelligence.
Fig 3: Target Object Recognition using YOLOv3 [21]

1.4 Controller

A device which takes multiple inputs to adjust its output so

that the connected gadget operates in a controlled way is
called as a controller. Microcontroller can be operated with
more than one control outputs and carry out closed loop
control. Choosing a specific controller is important for a final
operation of a project because different actuators require
differing control methods to achieve stable output. Arduino
and Raspberry Pi are the most widely used controllers now a
days.

Fig 2: Tenser Flow Construction [18]

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4.To perform spot welding operation with the help of end

effectors.
The material used for manufacturing the bottom of robotic
arm was plywood which has the dimensions as follows-
Length-48 cm,
Breadth-28 cm,
Thickness-2 cm.
Arm manipulator will be made up of plastic and has the
following description-
● Weight=(30)2=60 g for big arm

and (10)2=20 g for small arm.

● Length=25 cm for big arm

And 5cm for small arm.

At the assembly point of wrist and end effector, 2 end

effectors are used, in which one end effector is fixed and the
other is movable, the end effector assembly has meshing of
spur gears and worm gears which are connected to a 9 V
Fig 4: Configuration of Mbed2 Literature stepper motor. The stepper motor has a step angle of 1.8
degrees and a speed of 100rpm. Force calculation on joints is
Review done. This design of the robotic arm has two d.o.f. which
performs the function of lifting, and for each linkage the
2 Literature Review
center of mass was acting at the half of the length. Since
there are many possible configurations for the robotic arm,
2.1 Development Of Robotic Arm Using Arduino UNO the maximum degrees of rotation of each joint is 180
by 1Priyambada Mishra,2Riki Patel, 2Trushit
degrees. All the locations of the End Effector to which it can
Upadhyaya, 2Arpan Desai:-
reach so that the workspace required can be calculated. This
type of technology which is used in robotic arms can help in
In this paper, they have used 4 servo motors to make joints
doing spot welding operation more efficiently. The material
of the robotic arm and the movement will be controlled
handling was carried out easily by picking and placing of the
with the help of potentiometer. The controller used is desired object. We can change the variation in the robot arm
Arduino UNO. The analogue input signals of the Arduino’s
structure and their angle of movement.[2]
is given to the Potentiometer. The arm has been built by
the Cardboard and individual parts are attached to the
2.3 Review on Object-Moving Robot Arm basedon
respective servo motors. The arm is specifically created to
pick and place light weight objects. So low torque servos, Color By Areepen Sengsalonga, Nuryono Satya
with a rotation of 0 to 180 degrees have been used. Widodo
Programming is done using Arduino 1.6.10. Thus the paper
basically focuses on creating a robotic arm with non useful The objective of this finding is to make a manipulator
materials and its application on small purposes.[1] which can sort objects on basis of color using specific
motors and photodiode sensors programmed with a
2.2 Design of Robotic Arm with Gripper and End
Arduino Mega series microcontroller. The light
effector for spot welding’ by Puran Singh, Anil Kumar,
Mahesh Vashishth photodiode sensor can identify RGB colors. In this
system the output of Arduino Mega 2560 is displayed on
According to the paper the robotic arm consists of 2 degrees a LCD screen which is an indication of the observed
of freedom is being made for the purpose of spot welding, color. The first step of object moving process is by
gripper will be used in the arm. The end effector consists of distinguishing the RGB color. The gripper of robotic arm
an arrangement of spur gears and threaded shafts along with will move to pick objects based on color, depending on
an AC motor. Aims considered while building the robotic arm
the color input given by the light photodiode sensor.
are-
1.To have a rigid structure. Arduino Mega 2560 is a microcontroller that uses
2.Movement of parts to defined angles. ATmega2560 which is installed in robotic arm having 54
3.To attain consumption of power at optimum level. digital i/o ports segregated into different types. In this

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paper a color sensor testing is also carried out ,having a of the Arduino was done with the help of embedded C
target to determine the ability of Photodiode sensor for language. The Flex and Gyro Sensors were placed near the
distinguishing of color .The resultant voltage from fingers. Whenever the change is detected, the information by
photodiode will be sent to ADC to process and show both the sensors is processed by the controller. The Future
result on the LCD screen provided.[3] Scope of this paper includes using 5 Flex Sensors near the
fingers and more Gyro for the ease of operation.[6]
2.4 Modeling and Simulation of Robotic Arm
Movement using Soft Computing by V. K. Banga, Jasjit 2.7 A Geometric Approach for Robotic Arm Kinematics
Kaur, R. Kumar, Y. Singh with Hardware Design, Electrical Design, and
Implementation by Kurt E. Clothier and Ying Shang

In this research paper the authors successfully built a 4 In this paper, the author has taken a geometric approach in
degrees of freedom robotic arm using soft computing. They order to position the robotic arm in an autonomous manner.
have formulated ways for controlled movement of robotic
iRobot command model is the main controller for the robot.
arm and planning of trajectory with the help of Genetic
Algorithms (GAs) and fuzzy logic (FL). As optimal movement For additional hardware, there are four e-ports and it is built
is critical for efficient autonomous robots. This architecture around Atmega 168 microcontroller. The number of sensors
is used to limit the issues related to the motion , friction used externally to iRobot Create are three. Two
and the settling time of different components in robotic arm. SharpGP2D12 Range Finder sensors and one GP2D120
Genetic optimization is used to find the finest joint angles for Range Finder sensor are used. An infrared beam is emitted
this four d-o-f robotic system. This type of optimization from these sensors and the reflection angles are used to find
replaces the long process of trial and error in search of
the distance of the objects. Objects in the range of 10-80 cm
better combination of joint angles, which are valid as per
inverse kinematics for robotic arm movement. These logic are detected by GP2D12, whereas the objects as close as 4-
models (Fuzzy logic) have been developed for the joint 30 cm are detected by GP2D120. Element Direct, Inc is the
movement, friction and least settling time attributes as the screen used in this project, it came with four charactere
fuzzy logic input.[4] Display which was designed for the use with command
module. For scanning purposes, in the front of the robot,
2.5 Design and Development of a Self-Adaptive, there are two infrared range finders. A distance in
Reconfigurable and Low-Cost Robotic Arm by Kemal millimeters is received with the help of these sensors when
Oltun Evliyaoğlu1, Meltem Elitaş anything blocks their line of sight, and hence we get the
position of an object with the help of these distances.[7]
Variety of tasks can be performed by a robotic arm when we
do some changes in it , i.e changing the number of links, it 2.8 Design and Structural Analysis of a Robotic Arm by
can be made self- adaptable , this aspects of a robotic arm is Gurudu Rishank Reddy and Venkata Krishna
discussed by the author in this paper. The paper represents a Prashanth Eranki
basic robotic solution to fulfill different applications with the
help of it. The Design consists of two panels which have In this paper the authors have a successfully built a 4
there individual wiring with it, thus as per the application degrees of freedom robotic arm used for handling metal
required the panels are arranged and servo motors are sheet in a conveyor system. Reducing manual handling of
connected to perform the task.[5] sheet from stack to shearing machine is the main reason of
designing this pick and place robotic arm. Two pneumatic
cylinders for the feeding mechanism, and a robotic arm for
2.6 Design and Implementation of Wireless Robotic the workers’ safety were designed. Integration of the
Arm Model using Flex and Gyro Sensor by Anughna N, manipulator position sensor in the robot’s control unit is
Ranjitha V, Tanuja G done by RCC which is installed in the robotic arm. Robot’s
ability to interact with the surrounding is possible with the
The paper represents the author using
help of RCC control. A self-optimisation system is provided
accelerometers to collect information. The controller used is
by the manipulator depending upon the given conditions.
Arduino Atmega328. Human arm motion, fingers are located
Self-awareness system of the robot will ensure safety on site.
by flex, gyro sensors and signals are sent to Arduino
Suction effect is produced by the vacuum cup(which is at the
ATmega328 which in turn controls the servo motors and
end effector) on the surface of the object. Continuous path,
makes the movement of the arm possible. The programming
acceptable degree of freedom, speed control, repeatability

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and high resolution were the major factors which were 2.11 Design and Development Of 5-DOF Robotic Arm
processed by the manipulator.[8] Manipulators by Yagna Jadeja, Bhavesh Pandya

2.9 Industry Based Automatic Robotic Arm by Dr. The authors of this paper have built a 5 degrees of freedom
Bindu A Thomas, Stafford Michahial, Shreeraksha.P, robotic arm. They have used one cortex microcontroller
Vijayashri B Nagvi, Suresh M which is M3 LPC1768 (Mbed). It can lift maximum mass of
100g. Ultrasonic sensors were used in this system, to detect
This paper includes the design of an automatic robotic arm
the distance of the object from the robotic arm system. The
which is based according to the industrial applications. A
object can be identified through the transmitter, which sends
functional prototype was constructed. This framework
a signal which has frequency higher than that of the sound.
would make it simpler for man to maintain a strategic
The signals from the transmitter are reflected back by the
distance from the danger of dealing with objects which could
target object and received by the receivers. In this way the
be unsafe at the working environment. The utilization of
object detection takes place in their robotic arm manipulator
robots is strongly suggested for Businesses particularly for
system. Once the object is detected the microcontroller send
security and profitability reasons. In their design work, they
signals to the servo motors which are placed in the robotic
included a manipulator with 5 Dof. The microcontroller
arm to perform the pick and place mechanism.[11]
issues order to the individual channels that makes up the
link. The electric motor operates as per given command and 2.12 ‘Robotic Arm Tracing Curve Recognized by
the speed of the motor as well as the direction and motion is Camera’ by Timothy Karl Findling
controlled by the microcontroller. Meanwhile, in the mode of
operation of robot, an obstacle sensor was programmed by This paper was a thesis on solving the problem of soldering a
the microcontroller such that it detects the presence of the line on a remote surface using a laser beam with the help of a
obstacle in 10cm of radius. If an obstacle is sensed for the robotic arm consisting of 6 servo motors controlled by
first time it pauses the work. Again if the problem is not Arduino micro-controller. With the help of various
cleared, a feedback system such as buzzer gets turned on to algorithms, this robotic arm was used to solder the cracks on
bring this problem on notice of a personnel to clear the a surface. A camera was used as the feedback device to give
object. [9] the position feedback to the controlling software by giving
the current position of the laser dot. The software used in
2.10 Robotic object recognition and grasping with a this research consists mainly of an Arduino micro-controller
natural background by A Hui Wei and B Yang Chen
embedded software, an image processing software and a
In this paper, the authors had developed an efficient grasp control software. The robotic laser arm was kept 81.28 cm
synthesis method that could be used for closed-loop robotic away from a white board. Joysticks can also be used to
grasping with the help of only a single monocular camera, position the robotic arm, in that the Arduino controller was
they had proposed an approach which can detect contour disconnected from the PC.[12]
information from an image in real time and then determine
2.13 ‘Hand Gestures Remote Controlled Robotic Arm’
the precise position of an object to be grasped by matching
by Shamsheer Verma
its contour with a given template. This approach was much
lighter than the currently prevailing methods, especially In this paper a manipulator with 3 d.o.f was made which was
vision-based deep-learning techniques which requires no controlled by hand gestures. There is a glove which is a
prior training. They have used the state-of-the-art transmitter and the robotic arm is the receiver which
techniques of edge detection, superpixel segmentation, and functions according to the signals from the transmitter. The
shape matching. The visual servoing methods that the glove has a circuitry consisting of Arduino Mega 2560 which
authors developed for this system did not rely on accurate is programmed so as to transfer information through APC-
camera calibration or position control and was able to adapt 220 Module and receive data from the robotic arm. Three
to dynamic environments. Experiments showed that this angles, alpha, beta and gamma are assigned to the hand, this,
approach provided high levels of compliance, performance, along with the acceleration in the three directions is taken
and robustness under diverse experimental conditions and care by the gyroscope and accelerometer by sending the
environment.[10] signal to the Arduino Mega through wires, where all the
information is combined and processed. A flex sensor was
also used to send the signals for the movement of the finger

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to the controller. The chassis of the robotic arm was made up Artificial intelligence and machine learning
of acrylic. [13] can also be used in robotic arm to provide extra smartness to
the arm that will make it to think by its own and complete
2.14 ‘Modeling and Control of 2-DOF Robot Arm’ by the task without human intervention.
Nasr M. Ghaleb and Ayman A. Aly  Elements used in robotic arm are:
 Arduino
In this paper, modeling, simulation and controlling of 2 DOF  Servo motor
robotic arm consisting of two links was done. Denavit-  Gear box
Hartenberg parameters were used to determine the forward  Side shaft geared motor
 L298n motor . [16]
kinematics of the robotic arm. Inverse kinematics of the
robotic arm was carried out to find the variables of the 2.17 Modeling and Simulation of 5 DOF Educational
cartesian coordinates of the end effector. A Permanent Robot By Mohammed Abu Qassem , Iyad Abuhadrous ,
Magnet DC (PMDC) motor was used for the working of the Hatem Elaydi .
arm. MATLAB was used for the simulation. [14]
In this study paper they have built a virtual software
2.15 ‘Path Planning and Co-simulation Control of 8 through which they can control the manipulator consisting
DOF Anthropomorphic Robotic Arm’ by Sudharsan, J.* of 5 d.o.f. This software is being used for educational
& Karunamoorthy, L. purpose and for educating people about the functioning of
the robotic arm. In this they have designed a 5 d.o.f. robotic
arm which consists of servo motors for the functioning of the
This paper was published to focus on the efficiency of the
joints and the end actuator. In this paper they have also
path planning with the help of Matlab and ADAMS simulation
discussed about the simulation results which were carried
software. The software’s were used to execute the control out on the robotic arm. The results show that they have used
algorithm in real time case and see the functional behavior of card generated motion for the communication between the
the system. This showed the results of the real time working controller and the robotic arm due to which the time
of the manipulator. To control the motions of joints a joint resolution for the accurate positioning of the arm is 1μs and
cubic path control algorithm are used with the help of to generate extremely smooth moves a dc motor control was
used. [17]
MATLAB. The end effector of the robotic arm was kept
similar to human palm and fingers. The arm was modelled in
Pro-E software tool. Through simulations they got the results 2.18 INTELLIGENT ROBOTIC ARM by Prasad Ban ,
on torque, position, velocity and acceleration of the robotic Shweta Desal, Revati Barge , Pallavi Chava
arm. [15]
Spotting of specific material or any element in physical
2.16 Smart Robotic Arm By Dishant Khosla, Manvinder world by any machine by inherited man made intelligence is
Sharma, Sachin Krishan Khanna, Pratibha Khanna, still a tedious task. These smart machines have the ability to
Gurpreet Kaur. complete a task as instructed by their operator. Real time
element identification includes recognition of objects by the
It is a study research based on a smart robotic arm which help of Computer Vision and men made intelligence, which
also involves Machine Learning concepts. Smart Robots are
provides technical information and basics about it. The
used to make individuals life easier by decreasing the work
robotic arm is an issue which is being researched due to load and also by ensuring better accuracy.
problems being faced in day to day life and due to this there These advancements can make a robotic arm capable
are varieties of robotic arms present in market. This study of picking and placing of objects which will be recognized by
includes the work of robotic arm and in which field it can be the system, this whole process of recognition depends on the
used. data stored in the processing system. The physical world
data is acquired and the recognition system is complied with
As we know robotic arm can be operated through various
this acquired data through intelligent technology. The more
methods like app, remote control, voice command. In their
the amount of acquired data will be, more will be the
project they have used GUI which comforts the user to use
accuracy of the detection system incorporated in robotic
this app efficiently and conveniently. It gives choice to user
arm.
that whether he/she has to cut fruits or vegetable; if fruits,
then which type of fruits; if vegetable, then which type of In this research paper an uncomplicated machined arm
vegetable and how it should be cut. having a dof of six. The robotic arm has three basic
components.
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[a]Actuators (motor): Responsible for movements in gripper from the datum. This makes process easier for
different axis. machine to detect the position of object and come in same
[b]End Effector : For performing various task like picking plane of the object. [20]
,placing ,drilling ,cutting etc.
[c]Controller (Arduino) : Brain of whole system ,this part
controls every motion occurring.[18] 2.21 Autonomous Object Detection and Grasping Using
Deep Learning for Design of an Intelligent Assistive
2.19 Design and fabrication of pick and place robotic Robot Manipulation System by Sanzhar Rakhimkul,
arm By Dr.T.Sunil kumar, K.sarath, Sd.Famil, Anton Kim, Askarbek Pazylbekov and Almas
A.V.S.Bhagyesh and Sk.Althaf. Shintemirov

In this project they have designed a manipulator of improved This paper highlights the method of designing a smarter
accuracy by using servos to power the joints in the robotic human machine interface for a robotic arm which is
arm.The robotic arm is designed using CATIA software. In
controlled by a joystick. This was done by integrating a set of
this project we are going to fabricate robotic arm which
performs ASRS function. The project covers the procedure methods based on machine learning for automatic object
for selection of the servos used to power each joint of the detection, an estimation of its position which was done by
arm in RGB-D sensor using processing of the collected data. A three
details. We are selecting Aluminum as our fabrication fingered mechanical gripper was used to grasp the target
material. The torque exerting at each of the joints is going to object. The movement of robot towards the object was
calculate in this project and a servo with the required torque started by selection of a desired element in the GUI.
rating is being selected for each joint. Selecting a suitable
servo controller and control software for the Robotic arm is The occlusion of a target object by the robotic arm is the
developed using Microsoft’s programming language.
key issue experienced during the implementation process.
Kinematic Analysis When the robot approaches a target object at a short
The branch of mechanic which deals with the study of distance and, subsequently, the manipulator closes part of
system of bodies without giving any importance to any other the target object, an object recognition model can no longer
factor like force, mass is called Kinematics. There are two provide stable performance.[21]
categories of kinematics for robotic arm:
• Forward kinematics 2.22 Object Detection and Recognition for a Pick and
• Inverse kinematics.[19] Place Robot by Rahul Kumar, Sunil Lal, Sanjesh Kumar
and Praneel Chand.
2.20 PLC based Robot Manipulator Control using
In this paper, the authors presented the modelling and
Position based and Image based Algorithm By
implementation of feature extraction algorithm and two
Harshavardhan Reddy Kunchala & Jack Toporovsky
classifiers for object recognition and detection. The major
The author of this paper has used Programmable Logic challenge faced in developing this image processing
Controller for controlling the manipulator and also used two algorithm was that of making the test subjects in compliance
artificial intelligence algorithms that is position based and with the classifier parameters, resizing of the images
image based algorithms. The manipulator used has 5 conceded in the loss of pixel data. Therefore, a centered
Degrees of Freedom. The position based algorithm calculates image approach method was applied. The accuracy of the
the joint velocity by the data provided by the algorithm classifier developed in this paper was 99.33% and the
based on images. accuracy for the feature extraction algorithm was 83.6443%.
The main purpose of this paper was to use the data The overall system performance of the image processing
from the images captured by the camera and the space co- algorithm developed by the authors after experimentation
ordinates to the specific object which at last controls the was 82.7162%. The authors developed an IP technique
movement of the robot while performing certain task. The which will involve the FE (Feature Extraction) and
position determining algorithm outputs the X co-ordinates classification algorithms suitable for object sorting task. The
and Y co-ordinates in the image frame captured by system developed was tested on a real time basis. Further
integrated camera along with a scaling factor. The the developed IP technique was used on SCORBOT ER-4U
measurement related to gripper are done according to (robotic arm platform) which was refurbished and utilized
scaling factor and used to get an idea of the height of the to sort electronic components. This paper also covers the
algorithms of feature extraction and classification. Further

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discusses on the determination of object location and also 3. CONCLUSIONS

portrays all the results carried out for the development of
the algorithms.[22] Hence, we have successfully reviewed several research papers
published by different authors for the better understanding
2.23 Review of ‘ Robot Motion Planning for Pouring of the development of the Robotic Arm.
Liquids’ by Zherong Pan, Chonhyon Park, Dinesh
Mnocha. 4. ACKNOWLEDGEMENT

This paper presents a algorithm to provide a collision free This review paper was carried out at MIT School of
trajectory for a robotic arm. Concepts of Computational Engineering, under the guidance of Assistant Prof.
Fluid Dynamics were used and the planning algorithm was Nishigandha Patel.
made by taking into account the fluid dynamics
constraints. The drawback mentioned was that the
5. REFERENCES
surrounding must be static and the target is fixed.[23] 1] Priyambada Mishra, Riki Patel, Trushit Upadhyaya, Arpan
Desai “Review of Development Of Robotic Arm Using
2.24 Utilising Artificial Intelligence in Software
Defined Wireless Sensor Network By Omolemo Arduino UNO”, International Journal on Recent Researches
Godwill Matlou and Adnan M.Abu Mahfouz in Science, Engineering and Technology, ISSN: 2348-3105
Volume 5, Issue 5, May 2017.
This paper shows how a significant role is played by AI in
our society. WSNs have been used in industries where [2] Puran Singh, Anil Kumar, Mahesh Vashishth “Design of
reliability and network performance are very important Robotic Arm with Gripper and End effector for spot
for success. Improved network management, security in welding”, Universal Journal of Mechanical Engineering 1(3);
SDWSN which result in a more reliable network are
92-97, 2013, DOI: 10.13189/ujme,2013.010303.
achieved when AI algorithms are applied to SDN. One topic
that has been researched very frequently in almost all
[3] Areepen Sengsalonga , Nuryono Satya Widodo “ Object-
research arenas by engineers and scientists is AI.[24]
Moving Robot Arm based on Color”, Signal and Image
2.25 Smart Robot Arm Motion Using Computer Vision Processing Letters, Vol.1., No.3, November 2019, pp. 13-19
by Bilal Iscimen , Huseyin Atasoy , Yakup Kutlu , ISSN 2714-6677.
Serdar Yildirim , Esen Yildirim
[4] V. K. Banga, Jasjit Kaur, R. Kumar, Y. Singh “Modeling and
The combination of computer’s vision and robotic arm is Simulation of Robotic Arm Movement using Soft Computing”,
shown by the author in this paper to design a smart robotic International Journal of Mechanical And Mechatronics
arm system which can identify objects from images Engineering, Vol:5, No:3,2011.
automatically and perform desired tasks. In this paper, a
serving robot application was carried out in which specific [5] Kemal Oltun Evliyaoğlu1, Meltem Elitaş “Design and
tableware can be identified and lifted from a table. A new
Development of a Self-Adaptive,Reconfigurable and Low-
database was created by uploading images of objects used in
serving a meal. Their study consisted of two phases: First Cost Robotic Arm” Department of Mechatronics Engineering,
phase includes the recognition of the objects through Sabanci University. Üniversite St. No:27, 34956
computer vision algorithms and determining the specified Tuzla/İstanbul Turkey1
objects’ coordinates. Second phase was the self-actuation of
the robot arm’s movement to the given coordinates. Artificial [6]Anughna N, Ranjitha V, Tanuja G “Design and
neural network was used for object recognition in this Implementation of Wireless Robotic Arm Model using Flex
system. The authors have achieved an overall accuracy of and Gyro Sensor”, International Journal of Recent
98.30%. Robot arm’s joint angles were calculated by using Technology and Engineering (IJRTE) ISSN: 2277-3878,
coordinate dictionary for moving the arm to desired
Volume-8 Issue-5, January 2020.
coordinates and the operation of the robotic arm was
performed successfully.[25]
[7] Kurt E. Clothier and Ying Shang “A Geometric Approach
for Robotic Arm Kinematics with Hardware Design,
Electrical Design, and Implementation” Hindawi Publishing
CorporationJournal of Robotics Volume 2010, Article ID
984823, 10 pages doi:10.1155/2010/984823

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[8] Gurudu Rishank Reddy and Venkata Krishna Prashanth [18] Prasad Ban , Shweta Desal, Revati Barge , Pallavi Chava
Eranki “Design and Structural Analysis of a Robotic Arm” “INTELLIGENT ROBOTIC ARM” , ITM Web of Conferences 32,
Blekinge Institute of Technology, Karlskrona, Sweden, 2016, 01005 (2020) ,ICACC-2020.
ISRN: BTH-AMT-EX--2016/D06—SE.
[19] Dr.T.Sunil kumar, K.sarath, Sd.Famil, A.V.S.Bhagyesh and
Sk.Althaf “Design and fabrication of pick and place robotic
[9] Dr. Bindu A Thomas, Stafford Michahial, Shreeraksha.P,
arm”, 2nd National Conference on Recent Trends in
Vijayashri B Nagvi, Suresh M “Industry Based Automatic Mechanical Engineering, GIST, Nellore.
Robotic Arm”, International Journal of Engineering and Conference Paper · August 2020.
Innovative Technology (IJEIT) Volume 2, Issue 11, May 2013,
ISSN: 2277-3754 ISO 9001:2008 Certified [20]Harshavardhan Reddy Kunchala & JackToporovsky “PLC
based Robot Manipulator Control using Position based and
[10] A Hui Wei and B Yang Chen, “Robotic object Image based Algorithm”, Global Journal of Researches in
recognition and grasping with a natural background”, Engineering: H Robotics & Nano-Tech Volume 17 Issue 1
International Journal of Advanced Robotic Systems, Version 1.0 Year 2017 Type: Double Blind Peer Reviewed
March-April 2020: 1–17, DOI: International Research Journal Publisher: Global Journals
10.1177/1729881420921102. Inc. (USA) Online ISSN:2249-4596 Print ISSN:0975-5861
[11] Yagna Jadeja, Bhavesh Pandya “Design and
Development Of 5-DOF Robotic Arm Manipulators”, [21]Sanzhar Rakhimkul, Anton Kim, Askarbek Pazylbekov
INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY and Almas Shintemirov “Autonomous Object Detection and
RESEARCH, Volume 8, Issue 11, November 2019, ISSN 2277- Grasping Using Deep Learning for Design of an Intelligent
8616. Assistive Robot Manipulation System”.

[12] Timothy Karl Findling “Robotic Arm Tracing Curve [22] Rahul Kumar, Sunil Lal, Sanjesh Kumar and Praneel
Recognized by Camera”, Florida Institute of Technology, Chand “Object Detection and Recognition for a Pick and Place
Melbourne, Florida December, 2016. Robot”

[13] Shamsheer Verma “Hand Gestures Remote Controlled [23] Zherong Pan, Chonhyon Park, Dinesh Mnocha “Robot
Robotic Arm”, Advance in Electronic and Electric Motion Planning for Pouring Liquids”, Research Gate,
Conference Paper, November 2014, DOI:
Engineering. ISSN 2231-1297, Volume 3, Number 5 (2013),
10.13140/2.1.4379.2165
pp. 601-606.
[24] Omolemo Godwill Matlou and Adnan M. Abu-Mahfouz
[14] Nasr M. Ghaleb and Ayman A. Aly “Modeling and Control “Utilising Artificial Intelligence in Software Defined Wireless
of 2-DOF Robot Arm”, International Journal of Emerging Sensor Network”, Conference Paper · November 2017
Engineering Research and Technology Volume 6, Issue 11, DOI: 10.1109/IECON.2017.8217065
2018, PP 24-31 ISSN 2349-4395 (Print) & ISSN 2349-4409
(Online). [25] Bilal Iscimen , Huseyin Atasoy , Yakup Kutlu , Serdar
Yildirim , Esen Yildirim “Smart Robot Arm Motion Using
[15] Sudharsan, J.* & Karunamoorthy, L. “Path Planning and Computer Vision” ELEKTRONIKA IR ELEKTROTECHNIKA,
Co-simulation Control of 8 DOF Anthropomorphic Robotic ISSN 1392-1215, VOL. 21, NO. 6, 2015.
Arm”, Department of Mechanical Engineering, CEG Campus,
[26] Pawan Shivaji Shinde, Aaditya Manoj Sonawane,
Anna University, Chennai, India. Kumar Sunjay Gaikwad, Omkar Vijay Pawar “REVIEW
PAPER ON INDUSTRIAL PICK & PLACE ROBOTIC ARM”,
[16] Dishant Khosla, Manvinder Sharma, Sachin Krishan NOVATEUR PUBLICATIONS, International Journal of
Khanna, Pratibha,Khanna, Gurpreet Kaur “Smart Robotic Innovations in Engineering Research and Technology
Arm”, Journal of Artificial Intelligence Research & [IJIERT], ISSN: 2394-3696.
Advances,ISSN: 2395-6720 (Online),Volume 6, Issue2
[27] Rahul Gautam1, Ankush Gedam2, Ashish Zade3, Ajay
[17] Mohammed Abu Qassem , Iyad Abuhadrous , Hatem Mahawadiwar4 “Review on Development of Industrial
Elaydi “Modeling and Simulation of 5 DOF Educational Robot Robotic Arm”, International Research Journal of
Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Arm”, International Journal of Mechanical and Mechatronics
,Volume: 04 Issue: 03 | Mar -2017 .
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