TY - GEN
T1 - Development of a 6-DoF Robotic Manipulator with Smart Actuators and Real-Time Inverse Kinematics
AU - Chen, Zuyan
AU - Huang, Zhendai
AU - Gan, Yu
AU - Hu, Fei
AU - Röning, Juha
AU - Li, Shuai
N1 - Publisher Copyright: © 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - Commercial 6-DoF robotic manipulators are often expensive and structurally closed, limiting their accessibility in education, research, and low-cost automation. Moreover, many low-cost alternatives suffer from limited precision, poor real-time performance, or lack of reproducibility. As a practical alternative, this paper presents the development of a modular 6-DoF robotic manipulator constructed using Xiaomi CyberGear actuators and 3D-printed structural components. A Jacobian-based geometric inverse kinematics algorithm enables real-time, closed-loop pose control across all joints via a distributed embedded architecture with CAN bus communications. The mechanical structure is manufactured through additive methods to reduce weight and cost while maintaining design flexibility. Both simulation and physical experiments demonstrate sub-centimeter root-mean-square tracking errors for circular and square trajectories in three orthogonal planes. The results validate the system's suitability for applications requiring high precision, responsiveness, and ease of customization.
AB - Commercial 6-DoF robotic manipulators are often expensive and structurally closed, limiting their accessibility in education, research, and low-cost automation. Moreover, many low-cost alternatives suffer from limited precision, poor real-time performance, or lack of reproducibility. As a practical alternative, this paper presents the development of a modular 6-DoF robotic manipulator constructed using Xiaomi CyberGear actuators and 3D-printed structural components. A Jacobian-based geometric inverse kinematics algorithm enables real-time, closed-loop pose control across all joints via a distributed embedded architecture with CAN bus communications. The mechanical structure is manufactured through additive methods to reduce weight and cost while maintaining design flexibility. Both simulation and physical experiments demonstrate sub-centimeter root-mean-square tracking errors for circular and square trajectories in three orthogonal planes. The results validate the system's suitability for applications requiring high precision, responsiveness, and ease of customization.
KW - 6-DoF robotic manipulator
KW - Inverse kinematics
KW - Low-cost
KW - Real-time control
UR - https://www.scopus.com/pages/publications/105034904835
UR - https://www.scopus.com/pages/publications/105034904835#tab=citedBy
U2 - 10.1109/ICNSC66229.2025.00064
DO - 10.1109/ICNSC66229.2025.00064
M3 - Conference contribution
T3 - Proceedings - 2025 International Conference on Networking, Sensing and Control, ICNSC 2025
SP - 343
EP - 348
BT - Proceedings - 2025 International Conference on Networking, Sensing and Control, ICNSC 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 International Conference on Networking, Sensing and Control, ICNSC 2025
Y2 - 1 October 2025 through 3 October 2025
ER -