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t
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(
I
J
RA
)
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
,
p
p
.
176
~
181
I
SS
N:
2089
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4856
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201
6
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D
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N
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b
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f
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w
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all
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etc
[
1
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.
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ab
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[
2
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.
Mo
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r
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b
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till
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m
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A
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Neu
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Net
w
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k
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h
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w
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p
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co
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T
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aim
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r
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p
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[
3
]
.
A
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w
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s
in
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o
b
o
tic
ar
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esi
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n
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
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N:
2089
-
4856
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177
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w
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d
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a
6
–
DOF
(
d
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r
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o
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f
r
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d
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m
)
v
ir
tu
al
r
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b
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w
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tu
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tu
al
r
o
b
o
tic
ar
m
w
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m
p
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ted
[
4
]
.
T
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n
d
g
est
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r
e
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o
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itio
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s
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f
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w
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th
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cr
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p
f
ield
w
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s
d
esig
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b
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ME
MS
ac
c
eler
o
m
e
ter
an
d
P
I
C
m
icr
o
co
n
tr
o
ller
[
5
]
.
T
h
e
m
o
tio
n
tec
h
n
o
lo
g
y
w
as
a
n
al
y
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d
b
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k
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[
6
]
.
A
r
o
b
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ME
M
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b
ased
Ge
s
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C
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An
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n
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o
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ati
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F
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t
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ig
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ad
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[
7
]
[
8
]
.
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[
9
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an
d
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r
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m
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ar
m
[
1
0
]
.
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h
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r
o
b
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ar
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2.
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RO
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M
E
T
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h
e
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ar
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w
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t
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itter
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t
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eiv
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tio
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as
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llo
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,
2
.
1
.
T
ra
ns
m
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t
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I
n
th
e
tr
a
n
s
m
itter
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tio
n
,
s
en
s
o
r
in
ter
f
ac
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n
g
w
a
s
m
ain
th
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n
g
.
Fo
r
t
h
is
F
R
DM
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2
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k
it
w
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s
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s
ed
.
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h
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k
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in
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-
o
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ates
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0
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0
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to
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u
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v
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at
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2
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2
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Rec
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Sect
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n
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h
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8
0
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tr
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s
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llin
g
th
e
m
o
to
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s
.
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h
e
B
lu
eto
o
th
at
th
e
r
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ei
v
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s
id
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w
ill
r
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th
e
X,
Y,
Z
v
alu
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s
a
n
d
t
h
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s
e
v
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es
ar
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tr
an
s
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ller
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cc
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to
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th
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b
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m
w
ill
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k
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p
lace
.
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o
d
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th
e
m
o
to
r
s
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tatio
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Fig
u
r
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Fig
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r
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2
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R
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3.
H
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3
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1
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HC
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Driv
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Desig
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T
h
i
s
is
m
o
s
tl
y
u
s
ed
co
s
t
ef
f
icie
n
t
m
icr
o
co
n
tr
o
ller
in
th
e
r
o
b
o
tics
.
T
h
e
m
icr
o
co
n
tr
o
ller
h
as
b
u
ilt
in
R
OM
,
R
A
M,
I
n
p
u
t
Ou
tp
u
t
p
o
r
ts
,
Ser
ial
Po
r
t,
tim
e
r
s
,
in
ter
r
u
p
ts
an
d
clo
ck
cir
cu
i
t
.
T
h
e
I
/O,
m
e
m
o
r
y
,
an
d
o
n
-
c
h
ip
p
er
ip
h
er
als
o
f
a
m
icr
o
co
n
tr
o
ller
ar
e
s
elec
ted
d
ep
en
d
in
g
o
n
th
e
s
p
ec
if
ic
s
o
f
th
e
tar
g
e
t
ap
p
licatio
n
.
Si
n
ce
m
icr
o
co
n
tr
o
ller
s
ar
e
p
o
w
er
f
u
l
d
ig
ita
l
p
r
o
ce
s
s
o
r
s
,
th
e
d
eg
r
ee
o
f
co
n
tr
o
l
an
d
p
r
o
g
r
a
m
m
ab
il
it
y
t
h
e
y
p
r
o
v
id
e
s
i
g
n
i
f
ican
tl
y
e
n
h
a
n
ce
s
th
e
ef
f
ec
ti
v
e
n
es
s
o
f
th
e
ap
p
licatio
n
.
T
h
e
m
icr
o
co
n
tr
o
ller
h
as
o
n
ch
ip
p
er
ip
h
er
al
d
ev
ices.
I
t
w
as
t
h
e
co
n
tr
o
llin
g
b
lo
ck
i
n
o
u
r
s
y
s
te
m
,
to
w
h
ich
all
o
th
er
co
m
p
o
n
en
ts
(
A
cc
eler
o
m
eter
s
,
Mo
to
r
s
,
b
lu
eto
o
th
m
o
d
u
les
etc.
)
ar
e
in
ter
f
ac
ed
.
T
w
o
s
u
ch
m
icr
o
co
n
tr
o
ller
s
w
er
e
u
s
ed
i
n
th
is
p
r
o
j
ec
t,
o
n
e
at
th
e
tr
an
s
m
itti
n
g
en
d
an
d
o
n
e
at
th
e
r
ec
eiv
i
n
g
en
d
.
T
h
e
m
icr
o
co
n
tr
o
ll
er
w
a
s
p
r
o
g
r
a
m
m
ed
th
r
o
u
g
h
µV
i
s
io
n
's k
ei
l so
f
t
w
ar
e.
3
.
5
.
T
he
ro
bo
t
ic
Arm
a
s
s
e
mb
ly
T
h
e
r
o
b
o
tic
ar
m
as
s
e
m
b
l
y
i
s
s
h
o
w
n
i
n
f
ig
u
r
e
b
elo
w
.
T
h
is
w
a
s
th
e
i
m
p
o
r
tan
t p
ar
t o
f
t
h
e
s
y
s
t
e
m
w
h
ic
h
d
o
es
an
g
u
lar
m
o
v
e
m
e
n
t
s
f
o
r
P
ick
an
d
Dr
o
p
task
in
th
e
p
r
o
j
ec
t.
T
h
e
r
o
b
o
tic
ar
m
i
s
eq
u
ip
p
ed
w
ith
a
Gr
ip
p
er
(
f
o
r
p
ick
in
g
a
n
d
p
lacin
g
t
h
e
o
b
j
ec
ts
)
an
d
an
A
r
m
(
f
o
r
r
aisi
n
g
an
d
lo
w
er
i
n
g
th
e
o
b
j
ec
ts
)
,
s
h
o
w
n
i
n
F
ig
u
r
e
5
.
B
o
th
th
e
A
r
m
an
d
Gr
ip
p
er
w
e
r
e
eq
u
ip
p
ed
w
it
h
DC
Mo
to
r
to
co
n
tr
o
l
th
e
m
o
v
e
m
en
t.
T
h
es
e
m
o
v
e
m
e
n
t
s
w
er
e
s
y
n
ch
r
o
n
ized
w
it
h
t
h
e
h
a
n
d
g
estu
r
es
o
f
t
h
e
u
s
er
at
tr
an
s
m
itt
er
s
id
e.
T
h
e
ac
ce
ler
o
m
eter
w
a
s
m
o
u
n
ted
o
n
h
a
n
d
,
w
h
ic
h
ca
p
tu
r
e
s
t
h
e
h
a
n
d
g
e
s
tu
r
es.
T
h
e
a
s
s
e
m
b
l
y
w
as
c
o
n
tr
o
lled
at
th
e
r
ec
ei
v
er
s
ec
tio
n
b
y
th
e
s
ec
o
n
d
co
n
tr
o
ller
.
T
h
e
DC
m
o
to
r
s
i
n
th
e
ass
e
m
b
l
y
w
er
e
d
r
iv
en
b
y
t
h
e
v
al
u
es
s
en
t
t
h
r
o
u
g
h
m
icr
o
co
n
tr
o
ller
.
L
2
9
3
D
Dr
iv
er
ass
i
s
t h
er
e.
Fig
u
r
e
3
.
FR
DM
k
i
t
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IJ
RA
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SS
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A
cc
elero
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r
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a
s
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o
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f R
o
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o
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A
r
m
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a
w
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179
Fig
u
r
e
4
.
R
o
b
o
tic
A
r
m
Ass
e
m
b
l
y
4.
SYST
E
M
I
M
P
L
E
M
E
NT
A
T
I
O
N
W
h
en
t
h
e
p
o
w
er
s
u
p
p
l
y
o
f
b
o
th
tr
an
s
m
itter
an
d
r
ec
eiv
er
w
a
s
tu
r
n
ed
ON,
th
e
n
th
e
B
l
u
eto
o
th
d
ev
ic
e
o
f
tr
an
s
m
i
tter
w
ill
co
n
n
ec
t
to
t
h
e
B
lu
eto
o
th
d
e
v
ice
o
f
r
ec
ei
v
er
s
ec
tio
n
.
T
h
e
F
R
DM
k
it
was
m
o
u
n
ted
o
n
t
h
e
h
an
d
.
A
s
i
t
m
o
v
ed
in
a
n
y
d
ir
ec
tio
n
,
th
e
X,
Y,
Z
v
al
u
es
o
f
cu
r
r
en
t
p
o
s
itio
n
w
er
e
ch
an
g
ed
.
W
h
en
t
h
e
ac
ce
ler
o
m
eter
w
a
s
tilt
ed
in
r
i
g
h
t
d
ir
ec
tio
n
it
g
i
v
es
X
v
a
lu
e
(
an
g
u
lar
v
al
u
e)
in
p
o
s
itiv
e
s
ig
n
an
d
w
h
en
t
h
e
ac
ce
ler
o
m
eter
i
s
tilt
ed
in
le
f
t
d
ir
ec
tio
n
th
e
n
it
g
a
v
e
v
al
u
e
i
n
n
e
g
ati
v
e
s
i
g
n
an
d
at
th
at
t
i
m
e
th
e
Y
v
al
u
e
w
as
ap
p
r
o
x
im
a
tel
y
ze
r
o
an
d
Z
v
a
l
u
e
w
as
ap
p
r
o
x
i
m
atel
y
o
n
e
in
p
o
s
itiv
e
s
i
g
n
.
W
h
e
n
ac
ce
ler
o
m
eter
w
as
r
o
tated
b
y
1
8
0
d
eg
r
ee
th
en
v
al
u
e
o
f
z
b
ec
o
m
e
n
e
g
ati
v
e.
T
h
ese
v
al
u
es
w
er
e
r
ec
eiv
ed
b
y
a
n
o
th
er
b
l
u
eto
o
th
i
n
t
h
e
r
ec
eiv
er
s
ec
t
io
n
.
T
h
e
s
ec
o
n
d
Mic
r
o
co
n
tr
o
ller
s
elec
ts
t
h
e
ap
p
r
o
p
r
i
ate
m
o
to
r
,
o
u
t
o
f
f
o
u
r
m
o
to
r
s
,
w
r
is
t
m
o
to
r
,
g
r
ip
m
o
to
r
o
r
b
a
s
e
m
o
to
r
p
r
esen
t
i
n
th
e
ar
m
as
s
e
m
b
l
y
d
ep
en
d
i
n
g
u
p
o
n
th
e
r
a
n
g
e
o
f
t
h
e
v
alu
e
s
o
f
X,
Y,
Z
co
o
r
d
in
ates
t
h
at
h
a
s
b
ee
n
r
ec
eiv
ed
an
d
th
at
m
o
to
r
w
as d
r
iv
e
n
.
T
h
e
f
lo
w
c
h
ar
t o
f
th
is
r
o
tatio
n
s
tatis
t
i
cs is
s
h
o
w
n
i
n
f
ig
u
r
e
b
elo
w
.
Flo
w
c
h
ar
t 1
.
Mo
to
r
r
o
tatio
n
s
tatis
tics
Fig
u
r
e
5
a.
I
m
p
le
m
e
n
tatio
n
o
f
s
y
s
te
m
Fig
u
r
e
5b
.
I
m
p
le
m
en
ta
tio
n
o
f
s
y
s
te
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
3
,
Sep
tem
b
er
201
6
:
1
7
6
–
1
8
1
180
T
h
e
to
tal
s
y
s
te
m
i
m
p
le
m
e
n
tati
o
n
is
s
h
o
w
n
i
n
f
ig
u
r
e
5
a
an
d
5
b
w
h
er
e
t
h
e
m
o
v
e
m
en
t o
f
th
e
ar
m
ass
e
m
b
l
y
i
s
s
h
o
w
n
i
n
t
w
o
d
if
f
er
en
t d
ir
ec
tio
n
s
.
5.
RE
SU
L
T
AND
DI
SCUS
SI
O
N
I
n
th
i
s
s
y
s
te
m
,
t
h
e
p
r
o
p
er
an
g
u
lar
m
o
v
e
m
en
t
s
o
f
R
o
b
o
tic
ar
m
as
s
e
m
b
l
y
w
as
o
b
tain
ed
ac
co
r
d
in
g
to
th
e
m
o
v
e
m
en
t
o
f
ac
ce
ler
o
m
et
er
in
all
d
ir
ec
tio
n
s
.
T
h
e
p
r
o
j
e
ct
s
h
o
w
ed
th
e
ab
ilit
y
to
g
r
ab
th
e
o
b
j
ec
t
an
d
to
p
lace
th
at
o
b
j
ec
t
at
an
y
o
t
h
e
r
p
lace
.
I
n
th
is
w
o
r
k
B
lu
e
to
o
th
h
a
v
e
b
ee
n
u
s
ed
f
o
r
w
ir
ele
s
s
co
m
m
u
n
icatio
n
.
B
lu
eto
o
th
c
o
n
n
ec
tio
n
ca
n
n
o
t
g
et
a
ca
p
tu
r
e
r
a
n
g
e
m
o
r
e
th
a
n
1
0
m
(
f
o
r
HC
0
6
)
an
d
w
h
ic
h
is
a
d
r
a
w
b
ac
k
a
s
p
ar
as
d
is
tan
ce
i
s
co
n
s
id
er
ed
.
X
-
b
ee
o
r
R
F
m
o
d
u
les
w
h
ic
h
p
r
o
v
id
es
lo
n
g
d
is
tan
ce
co
m
m
u
n
ica
tio
n
ca
n
b
e
u
s
ed
in
p
lace
o
f
b
lu
eto
o
th
.
A
l
s
o
u
s
e
o
f
ca
m
er
a
at
r
ec
ei
v
er
s
id
e
c
a
n
f
ac
ilit
ate
t
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
s
y
s
te
m
T
h
is
ca
m
er
a
w
ill
h
elp
u
s
to
o
p
er
ate
th
e
r
o
b
o
tic
ar
m
ac
c
u
r
atel
y
.
T
h
e
h
ig
h
er
r
eso
lu
tio
n
ca
m
er
a
s
w
ill
h
elp
u
s
to
g
et
g
r
ea
ter
ac
cu
r
ac
y
.
Fo
r
f
u
t
u
r
e
m
o
d
if
icatio
n
a
n
d
r
o
id
ap
p
s
ca
n
b
e
d
ev
elo
p
ed
to
r
u
n
th
e
s
y
s
te
m
.
6.
CO
NC
L
US
I
O
N
R
o
b
o
ts
p
la
y
th
e
v
ital
r
o
le
in
h
u
m
a
n
li
f
e
w
h
er
e
n
u
m
b
er
o
f
ta
s
k
s
ca
n
b
e
p
er
f
o
r
m
ed
w
it
h
ea
s
e.
R
o
b
o
t
s
ar
e
h
av
in
g
w
id
e
r
an
g
e
o
f
ap
p
licatio
n
s
i
n
v
ar
io
u
s
f
ield
s
.
R
o
b
o
ts
ar
e
w
ell
s
u
ited
f
o
r
th
e
a
r
ea
s
w
h
er
e
h
u
m
a
n
ca
n
‟
t
en
ter
.
T
h
e
ac
ce
ler
o
m
eter
b
ased
r
o
b
o
ti
c
ar
m
s
ca
n
b
e
u
s
ed
in
i
n
d
u
s
tr
ies
w
h
er
e
h
ea
ted
m
etal
p
late
s
,
tab
lets
o
r
o
th
er
o
b
j
ec
ts
ar
e
lif
ted
.
Su
ch
t
y
p
e
o
f
s
y
s
te
m
s
ca
n
b
e
als
o
u
s
ed
to
ea
s
e
h
a
n
d
icap
p
ed
p
eo
p
le
to
d
r
iv
e
t
h
eir
w
h
ee
lc
h
air
.
T
h
is
w
o
u
ld
b
e
a
m
ea
s
u
r
e
ap
p
licatio
n
f
o
r
th
e
s
o
ciet
y
.
RE
F
E
R
E
NC
E
S
[1
]
P
r
o
f
.
R.
W
.
J
a
su
tk
a
r,
M
s.
S
h
u
b
h
a
n
g
i
J.
M
o
o
n
,
“
A
Re
a
l
T
i
m
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tern
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2
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1
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p
p
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0
4
3
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6
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a
y
2
0
0
5
.
[2
]
Hu
a
n
g
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,
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i
X
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o
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.
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[3
]
P
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d
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ires
,
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c
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se
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m
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tera
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ti
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,
2
0
0
9
.
[4
]
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o
n
g
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u
a
n
Ha
o
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p
Ye
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e
c
k
a
n
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im
Ch
o
t
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u
n
.
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6
-
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se
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rm
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tern
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tro
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1
1
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la L
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[5
]
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sh
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m
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r
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n
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h
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m
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h
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ra
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[6
]
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r
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0
1
2
[7
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il
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r
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c
c
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tern
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g
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4
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2
0
1
5
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r,
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m
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r,
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li
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rib
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in
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ter
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e
1
4
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m
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e
r
4
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u
g
2
0
1
4
.
[9
]
A
b
id
h
u
sa
in
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d
,
Za
m
rru
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Taj
H
.
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ri
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sh
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r,
“
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lex
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se
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Ro
b
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r
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icro
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u
rn
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r
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En
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c
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ti
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n
s,
2
0
1
2
,
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l
5
,
364
-
3
6
6
.
[1
0
]
A
ri
f
u
l
Isla
m
Bh
u
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n
,
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u
to
n
C
h
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ra
M
a
ll
ick
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ro
-
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c
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m
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rm
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m
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IEE
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c
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f
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re
n
c
e
o
n
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tr
a
teg
ic T
e
c
h
n
o
lo
g
y
(IF
OST
),
2
0
1
4
.
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Evaluation Warning : The document was created with Spire.PDF for Python.