ABSTRACT
This project work covers the design and construction of a robotic arm mechanically capable of 5 Degrees of Freedom. It solves the problem of automatically detecting and picking up objects placed within distances of 10-30cm round the robot base platform. It does this by using a simplified forward and inverse kinematic relation modeled in two dimensional robot workspace. The work does not cover the more general case, of an n-linked (n>2) robotic arm working within a three dimensional robot workspace. This later type produces system equations which are too complex to handle at this level of study. As part of building an adaptive behaviour into the robot, a thorough research material on the Adaptive Neuro-Fuzzy Inference System technique was presented and an attempt was made in implementing this on the project. –This technology gives the robot the ability to store angle location of the arm joints for various operations as it is manually controlled. This can then be used as feed data for autonomous repetitive operation. Ethical issues arising from using such automation technologies as robotic arm is discussed in chapter five together with recommendations and future works on the project.
