3D Control System of Arm Robot Prototype for Skin Cancer Detection

Arm robot has a lack of control systems that depend on desired control for assistive medical. Our laboratory robotics & artificial intelligent at Padjadjaran University created skin cancer detection of arm robot with dark flow framework to identify skin cancer in real-time. The implementation of the arm robot was for increasing the accuracy, precision, and stability. The main purpose of this paper was to control an arm robot for skin cancer detection that is capable to scan the whole body skin to localize the skin cancers by driving the manipulator in circular or elliptical skimming. To initiate the communication with the arm robot which used Dynamixel as the actuators, we applied USB2Dynamixel as the communicator. SMPS2Dynamixel was used to supply the power into servo motors. 3D Control system software has designed, and it had some features such as; forward kinematic movement, inverse kinematic movement, and 3D simulation to help user visualize the position of the arm robot. Control software was built in MATLAB GUI environment and 3D simulation adapted Peter Corke Robotics Toolbox.