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Let’s Not Throw Away that Big and Bulky Manipulator – Revitalize It!

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2018 ASEE Annual Conference & Exposition


Salt Lake City, Utah

Publication Date

June 23, 2018

Start Date

June 23, 2018

End Date

July 27, 2018

Conference Session

Mechanical Engineering Division Technical Session 7

Tagged Division

Mechanical Engineering

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Paper Authors


Trung H. Duong Colorado State University-Pueblo Orcid 16x16

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Dr. Trung Duong is currently a Research Professor at Engineering Department, Colorado State University-Pueblo. From 2014 to 2017, Dr. Duong worked as a Post-doctoral Research and then a Research Faculty at Center for Advanced Infrastructure and Transportation (CAIT), Rutgers the State University of New Jersey. He involved in research activities of the Long-Term Bridge Performance (LTBP) program funded by the Federal Highway Administration (FHWA) in U.S. Department of Transportation and the Bridge Resource Program (BRP) funded by the New Jersey Department of Transportation. Dr. Duong earned his M.S and Ph.D. degrees in Mechanical and Aerospace Engineering at the Oklahoma State University. His research interests are mechatronics, robotics, NDE technologies, image processing and computer vision, and artificial intelligence. He is a member of IEEE, IEEE Robotics and Automation Society, and ASEE.

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Nebojsa I. Jaksic Colorado State University, Pueblo Orcid 16x16

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NEBOJSA I. JAKSIC earned the Dipl. Ing. degree in electrical engineering from Belgrade University (1984), the M.S. in electrical engineering (1988), the M.S. in industrial engineering (1992), and the Ph.D. in industrial engineering from the Ohio State University (2000). He is currently a Professor at Colorado State University-Pueblo teaching robotics and automation courses. Dr. Jaksic has over 70 publications and holds two patents. Dr. Jaksic's interests include robotics, automation, and nanotechnology engineering education and research. He is a licensed PE in the State of Colorado, a member of ASEE, a senior member of IEEE, and a senior member of SME.

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In this work, we proposed a framework for interfacing the existed manipulators with a modern programming environment. A serial protocol (RS-232) communication between the robot and a computer was developed. Modern and state-of-the-art programming environments, such as MATLAB Robotics Toolbox, or free version of Robotics Toolbox from Peter Corke, etc., can be used to communicate and control the robot. Bypassing the provided and outdated software retired together with the robots by their manufacturers, students now have a greater flexibility to choose programming languages as their preference. Moreover, they can utilize many open source and up-to-date libraries to create their own software to solve vast problems ranging from forward/inverse kinematics/dynamics, path planning, to robot vision and learning in a graphical user-friendly environment. This work was implemented at Colorado State University-Pueblo undergraduate engineering program. Students were exposed to both approaches, using provided software from robot providers and following the new proposed framework. The preliminary student survey was conducted and produced a promising feedback.

Duong, T. H., & Jaksic, N. I. (2018, June), Let’s Not Throw Away that Big and Bulky Manipulator – Revitalize It! Paper presented at 2018 ASEE Annual Conference & Exposition , Salt Lake City, Utah. 10.18260/1-2--30770

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