Development of Anthropomorphic Arm for collaborative and Home Service Robot CHARMIE

Service Robots are becoming a reality and are progressing by leaps and bounds. Alongside this avenue of robotics is also the field of prosthetics, which is evolving rapidly. These topics are hot cakes in the industry and are widely developed. Some have one quality, and some have others, but are making a shoreline towards success. The development of arm and hand as individual or as a package is becoming common as more and more advanced collaborative robots come to the surface and join their human counterparts in the real world. This dissertation presents an open-source 3D-printed arm which was assembled and programmed on two fronts. The first is the control of the hand by utilising teleoperation with a camera and ML-based hand pose estimation. Secondly, it is the control via kinematics utilising the Denavit-Hartenberg method to define the motion and to find the position of the end effector in 3D space.