Relevant bibliographies by topics / Denavit-Hartenberg transformation

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  3. Conference papers

Academic literature on the topic 'Denavit-Hartenberg transformation'

Author: Grafiati
Published: 4 June 2021
Last updated: 11 February 2022

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Journal articles on the topic "Denavit-Hartenberg transformation"

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Ding, Feng, and Cong Liu. "Applying coordinate fixed Denavit–Hartenberg method to solve the workspace of drilling robot arm." International Journal of Advanced Robotic Systems 15, no. 4 (July 1, 2018): 172988141879328. http://dx.doi.org/10.1177/1729881418793283.

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Drilling robot is a piece of large rock drilling equipment that integrates mechanical, electrical, and hydraulic technique, and it is a significant device for drilling and blasting. The drilling robot arm is the core component of the robot. To get intuitive and accurate modeling method to overcome the problem of the classic Denavit–Hartenberg method, for instance, the model mismatches the entity. The coordinate system fixed on the entity of Denavit–Hartenberg notation that is named coordinate-fixed Denavit–Hartenberg is creatively presented. The coordinate-fixed Denavit–Hartenberg method not only improves the accuracy and operability of kinematic analysis but also solves the workspace of drilling robot arm effectively. The drilling robot from an intelligent technology company in China is taken as the research example in this article. The homogeneous coordinate transformation matrix of each link rod is established through reasonably simplifying drilling robot arm as a multijoint structure. The coordinate-fixed Denavit–Hartenberg method is utilized for the first time in determining and verifying the kinematics equation of drilling robot arm. The kinematics equation is employed to obtain the effective workspace of drilling robot arm. The analysis results demonstrate that the design of drilling robot arm reaches the need of workspace in the actual structure as well as meets the functional requirements of drilling robot.
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Steinparz, F. X. "Co-ordinate transformation and robot control with Denavit-Hartenberg matrices." Journal of Microcomputer Applications 8, no. 4 (October 1985): 303–16. http://dx.doi.org/10.1016/0745-7138(85)90031-4.

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Sharma, G., M. Badescu, A. Dubey, C. Mavroidis, S. M. Tomassone, and M. L. Yarmush. "Kinematics and Workspace Analysis of Protein Based Nano-Actuators." Journal of Mechanical Design 127, no. 4 (February 25, 2005): 718–27. http://dx.doi.org/10.1115/1.1900751.

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In this paper, a novel nanoscale protein based nano actuator concept is described. Molecular kinematic computational tools are developed and included in our Matlab Biokinematics Toolbox to study the protein nanomotor’s performance using geometric criteria. The computational tools include the development of the molecular motor direct and inverse kinematics using the protein’s Denavit and Hartenberg parameters and the corresponding homogeneous transformation matrices. Furthermore, the workspace calculation and analysis of the protein motor is performed.
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Ding, Ji Bin. "Robotize Kinematics Modeling on the Loading Mechanism of Back-Loaded Compressed Dust Cart." Applied Mechanics and Materials 63-64 (June 2011): 1013–17. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.1013.

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The three-dimensional geometric kinematics model of the loading mechanism of back-loaded compressed dust cart is established based on the robot kinematics principle and Denavit-Hartenberg（D-H） method. In this paper, the loading mechanism's principle is discussed and it’s institutions simplified robotize model is established, coordinate transformation process and gesture of the skateboard and scraper of the loading mechanism have been studied in the D-H coordinate, has certain significance for improving the product design methods and the manufacturing quality.
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Baločková, Lenka. "The Method for Solving Kinematics of an Industrial Robot." Applied Mechanics and Materials 282 (January 2013): 274–81. http://dx.doi.org/10.4028/www.scientific.net/amm.282.274.

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This article deals with an overview of kinematic structures of industrial operating robots in cartesian, cylindrical, spherical and angular coordinating system. The second half of the article deals with solution of direct kinematics. Each of the coordinate systems is graphically shown and verbally described. Basic transformation matrices are used for the solution of direct kinematics and subsequently the Denavit-Hartenberg method, placing coordinate systems of robotic structure RRRT, is described in details. Calculated workspaces of kinematic structure RRRT are shown at the end of this article.
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Xie, Jun, Jun Zhang, and Jie Li. "Mechanism Design and Kinematics Simulation of Massage Mechanical Arm." Applied Mechanics and Materials 101-102 (September 2011): 279–82. http://dx.doi.org/10.4028/www.scientific.net/amm.101-102.279.

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Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.
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Said, Alejandro, Ernesto Rodriguez-Leal, Rogelio Soto, J. L. Gordillo, and Leonardo Garrido. "Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics." Mathematical Problems in Engineering 2015 (2015): 1–14. http://dx.doi.org/10.1155/2015/437979.

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This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH) transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.
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Wen, Jian, Lei Zhou, Chun Zhang, and Tong Fen Liang. "Errors Analysis and Calibration on Measuring Mechanical Arm for EVA Spacesuit Ergonomics Research." Key Engineering Materials 474-476 (April 2011): 852–57. http://dx.doi.org/10.4028/www.scientific.net/kem.474-476.852.

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A combined coordinate measuring mechanical arm (CCMMA) was developed to test the operational ability of astronaut in the EVA spacesuit. The equipment measures the space region coordinates of the astronaut’s hand-reach while forces act on a handle. The homogeneous transformation equations of CCMMA are established based on Modified Denavit-Hartenberg (MDH). Measurement error was analyzed and distance error model of CCMMA was set up to improve measurement precision. The improved genetic algorithm is applied to the identification of CCMMA structure parameters. The calibration experiment of CCMMA was carried out using such model and algorithm. The result showed that with identification, the repeatability and length measurement precision were improved by 5.38 and 3.11 times respectively.
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Guo, Fayong, Hao Cai, Marco Ceccarelli, Tao Li, and Butang Yao. "Enhanced D-H: an improved convention for establishing a robot link coordinate system fixed on the joint." Industrial Robot: the international journal of robotics research and application 47, no. 2 (December 16, 2019): 197–205. http://dx.doi.org/10.1108/ir-09-2019-0185.

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Purpose Robot kinematic modeling needs to be based on clear physical concepts. The widely used Denavit–Hartenberg (D–H) convention requires the coordinate system to be established on an extension of the axis. This leads to non-trivial problems which this study seeks to address by developing an improved convention. Design/methodology/approach First, the problems associated with the traditional D–H convention are systematically analyzed. Then, pursuant of solving these problems, an enhanced Denavit–Hartenberg (ED–H) convention is proposed, and a procedure is delineated for establishing the coordinate frame and obtaining the associated parameters. The transformation equations are derived based on a homogeneous matrix. The characteristics of traditional D–H and ED–H with regard to kinematics and dynamics are comprehensively compared. Finally, an application of dynamics for lead-through programming and collision protection is undertaken to validate the proposed ED–H method. Simulations and experiments are carried out using the Tiansui-One cooperative robot platform with the aim of exploring the merits of the proposed convention. Findings The proposed convention is compatible with traditional methods and can solve the problems inherent in these methods. The main characteristic of ED–H is that the coordinate system is fixed on the joint, which is a general modeling method. Originality/value An enhanced D–H convention is proposed to establish a unified, intuitive and accurate link model that exhibits stronger adaptability than traditional D–H and can be used effectively in kinematic and dynamic modeling of mechanical arms.
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Reza Elhami, Mohammad, and Iman Dashti. "A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices." IAES International Journal of Robotics and Automation (IJRA) 5, no. 3 (September 1, 2016): 213. http://dx.doi.org/10.11591/ijra.v5i3.pp213-222.

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In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.
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Dissertations / Theses on the topic "Denavit-Hartenberg transformation"

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Van, der Zee Lodewyk Francois. "Design of a haptic controller for excavators." Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/1660.

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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.
The input orientation of the excavators in use today usually comprises two joysticks that control the actuator links individually. In order to perform an excavation task, several different combinations of joystick inputs are required, placing high psychomotor demands on the operator. In training an operator this creates a steep learning curve, with a lengthy training time and a reasonable amount of experience being required to perform an excavation task skilfully. In this master’s thesis a haptic1 device was developed, resolving input ergonomics and creating a single input device capable of providing feedback to the operator. The design and construction of the haptic device, with the related control scheme, is presented and discussed. The control scheme combines position and rate control, and relates all the actuator joint positions to a single end-effector point. The control and ergonomic aspects of the haptic device were tested and compared to the traditional two joystick control setup by means of the implementation of a virtual excavator simulator. The simulation was developed in MATLAB, and virtual excavator displayed in an openGL window. The objective of this study was to evaluate the human factors related to the input orientation. Ten inexperienced test subjects were recruited to perform four sets of tests, where each test required a different level of operator skill. The results indicated that, on average, the test subjects had an increased level of performance after training on the haptic device. These results strongly support the hypothesis that haptic control simplifies the operational tasks required for operating an excavator. 1The word haptic means of, or relating to, the sense of touch, or tactile
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Conference papers on the topic "Denavit-Hartenberg transformation"

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Barman, Shuvrodeb, and Yujiang Xiang. "Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22646.

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Abstract In this study, recursive Newton-Euler sensitivity equations are derived for robot manipulator motion planning problems. The dynamics and sensitivity equations depend on the 3 × 3 rotation matrices based on the moving coordinates. Compared to recursive Lagrangian formulation, which depends on 4 × 4 Denavit-Hartenberg (DH) transformation matrices, the moving coordinate formulation increases computational efficiency significantly as the number of matrix multiplications required for each optimization iteration is greatly reduced. A two-link manipulator time-optimal trajectory planning problem is solved using the proposed recursive Newton-Euler dynamics formulation. Only revolute joint is considered in the formulation. The predicted joint torque and trajectory are verified with the data in the literature. In addition, the optimal joint forces are retrieved from the optimization using recursive Newton-Euler dynamics.
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Valencia, Guillermo E., John C. Turizo, and Marco E. Sanjuan. "A Matlab® GUI (Graphical User Interface) for Generating the Inverse Dynamic Model for Industrial Manipulator Until Five Degrees of Freedom." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-40778.

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A Graphical User Interface program in Matlab® for generating the inverse dynamic non linear model of industrial manipulator in symbolic form is presented, that is, the joint torques required for a given set of joint angles, velocities and accelerations of the end -effector. The program, called RIDMD (Robotic Inverse Dynamic Modeling Deduction), is an application of Newton-Euler (NE) Recursive Methods to the derivation of closed form dynamic equations of robots, considered as a group of rigid bodies connected by suitable single degree-of-freedom (DOF) joints. The general procedure implemented in the program in order to calculated the model, begin estimating the Denavit-Hartenberg parameter, selecting a frame attached to each link of the robot arm and calculating the transformation matrix, which is a homogeneous transformation matrix that expresses the position and orientation of consecutives frames of reference for the robot. In addition, the kinematic inicial condition for the first link is determinate, and the kinematic variables transformation is developed, for prismatic or sliding joint. Finally, the force and torque transformation is solved with the program, which is transparent to the user and allows the symbolic calculation of dynamical models until five DOF.
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Alkhatib, Rami, Tarek El Bobo, Afif Swaidan, Jad Al Soussi, Mohamad O. Diab, and Nassim Khaled. "Design of Robotic Manipulator to Hollow Out Zucchini." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-24389.

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Abstract Robotics entered the food industry starting from packaging to cooking. Zucchini is an important dish in the Middle Eastern kitchen. The eventual challenge of hollowing out Zucchini is to avoid poking its bottom with the corer. This paper introduces a novel robotic mechanism for hollowing out zucchini tasks precisely and efficiently. The mobility of the robot arm ensured a smooth hollowing while the corer is put in motion. Moreover, frames are assigned to the tip of the corer, holder, zucchini and camera to avoid stabbing the zucchini bottom. Accordingly, the special Euclidean group of the homogenous transformation matrices derived between different links are discussed in the context of their properties. The kinematic analysis is based on Mozzi-Chasles’ theorem rather than using the traditional Denavit Hartenberg convention for better task-oriented planning of hollowing out zucchini mechanism. Results indicate a promising mechanism that is well designed, simple and easy to build, maintained and most importantly to perform the required task. This paper forms an important block in building the whole automated system to hollow out Zucchini.
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Murakami, Hidenori. "A Moving Frame Method for Multi-Body Dynamics Using SE(3)." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51192.

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To describe the configuration of a multi-body system, Cartesian coordinate systems are attached to all bodies comprising the system. Their connections through joints and force elements are efficiently expressed by using 4×4 matrices of the homogeneous transformation, presented by Denavit and Hartenberg in 1955. However, at this time, there is no systematic method to compute velocities and angular velocities using the matrices of such homogeneous transformations. In this paper, homogeneous transformation matrices are identified as a subset of a Lie group, called the special Euclidean group denoted by SE(3). This observation enables the usage of the Lie group theory in multibody kinematics. The effective use of the theory is built upon a platform of a moving frame method as presented in this paper. In this method, for each body-attached Cartesian coordinate system, the coordinate vector basis is written explicitly following Élie Cartan. This moving frame notation enables us to use the Lie algebra of SE(3), denoted by se(3), to compute velocities and angular velocities by minimizing the complexities of the Lie group theory. For kinetics, a variational method is established in se(3) by deriving a relationship between a virtual angular velocities and the corresponding virtual rotational displacements. This constrained variation of virtual angular velocities allows the derivation of the d’Alembert principle of virtual work from Hamilton’s principle for multibody systems. Utilizing this variational tool, we present a systematic computation of equations of motion from Hamilton’s principle. Finally, we reduce the spatial dynamics to planar dynamics and list the simplifications achieved in the two-dimensional problems using SE(2). Then, for a two-degree-of-freedom manipulator the analytical equations of motion are obtained to demonstrate the power of the moving frame method.
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Vakil, Mohammad, Hodjat Pendar, and Hassan Zohoor. "A Novel Six Degree-of-Freedom Parallel Manipulator With Three Legs." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57230.

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In this paper, a novel six degrees-of-freedom (6-DOF) parallel manipulator actuated by three base-mounted partial spherical actuators is proposed. The parallel manipulator consists of a base, a moving platform and three connecting legs. Each leg has spherical (S), prismatic (P) and universal (U) joints (SPU) in serial manner. The spherical joints are partially actuated due to the fact that the actuators of each leg are used only to specify its leg’s direction. The inverse and forward pose kinematics as well as the singularity points of the aforementioned mechanism is described in the article. In the inverse pose kinematics, active joint variables could be calculated with no need for the evaluation of passive joint variables. It will be shown that the inverse pose kinematics has sixty-four (64) solutions (64 different configurations exists for the inverse pose problem). In the forward pose kinematics, instead of twelve nonlinear equations derived by equaling the transformation matrices of each leg through Denavit-Hartenberg notation, only three nonlinear equations with less nonlinearity could be solved via numerical method, and therefore the numerical method converges more rapidly to the answer. Finally two different sets of singularity points with different natures are obtained.
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Kunz, Jacob A., Angela Sodemann, and J. Rhett Mayor. "An Investigation Into Fixture Error Compensation in Micromilling Using Tool-Based Conductive Touch-Off." In ASME 2010 International Manufacturing Science and Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/msec2010-34273.

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In micro-milling, decreased tool size leads to a need for tighter tolerances for fixture error in order to avoid excessive tool load and maintain machining accuracy. In 4-axis machining on a curved surface, fixture errors propagate cumulatively leading to a significant error at the tool tip. As a result a compensation approach is essential to successful microfeature production on curved surfaces. Tool stresses are shown to be highly dependent on the amount of fixture error. The scaling down of tool sizes is shown to result in an exponential increase in tool stresses. This paper proposes the use of a conductive touch-off method that utilizes the milling tool in its spindle to perform an in-situ registration mapping of positional errors. The fixturing errors are characterized using the Denavit-Hartenberg robotic linkage convention. A forward kinematic solution uses homogeneous transformation matrices to investigate the effects of fixturing errors on milling tool path errors in 4-axis micro-milling on curved surfaces. The touch-off registration measures the positional error in the tool axis direction allowing for axial tool position compensation. This results in decreased tool stresses and increased channel depth accuracy which is necessary for successful milling. A preliminary implementation of the conductive touch-off registration approach has demonstrated the efficacy of the technique when applied to production of micro-features on concave surfaces.
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Fotouhi, Reza, Hamid Salmasi, Imran Waheed, and Mohammad Vakil. "Trajectory Planning for a Wheeled Mobile Robot and its Robotic Arm." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-40800.

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A temporal planning algorithm that is implemented on a wheeled mobile robot is presented. This algorithm has two parts: the first part is developed to control the motion of the mobile robot, and the second part is designed to control a 6-degrees-of-freedom (DOF) arm attached to the robot. In most robotic applications, it is necessary for the mobile robot to plan and follow a desired path. It may also be necessary for the robot to follow a given velocity profile, which is known as temporal planning. The advantage of temporal planning method in this paper is in its simplicity and its computational efficiency. A rudimentary trajectory is first created by assigning an arbitrary time to each segment of the path. This trajectory is made feasible by applying a number of constraints and using a linear scaling technique. When a velocity profile is given, a nonlinear time scaling technique is used to fit the mobile robot’s linear velocity to the given velocity profile. A method for avoiding moving obstacles is also implemented. Simulation and experimental results showed good agreement with each other. A novelty of this paper is in developing and implementing a new method for control of a 6-DOF arm attached to the mobile robot. Two methods have been proposed and tested for position control of the robot arm; i) linear end-effector increment (LEI), and ii) linear joints increment (LJI). It is shown that LEI is more precise than LJI in trajectory tracking of robot arm; however, the singularity of Denavit-Hartenberg (DH) transformations matrix limits the application of this method for specific trajectories. The LJI is developed to avoid the singularity in DH transformation matrix. The experimental results for four different paths show the effectiveness of the LJI approach. The successful experimental results of path and temporal planning of a wheeled mobile robot and motion control of its industrial arm is reported.
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Yu, Liangyao, Sheng Zheng, Jinghu Chang, and Xiaoxue Liu. "Pedal Actuator of Driver Robot Based on Flexible Manipulator." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68100.

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In most testing scenarios, driver robot can improve the testing accuracy and reduce the testing time when it replaces human driver. In this paper, an innovative pedal actuator of driver robot based on flexible manipulator is designed. This pedal actuator of driver robot can save the driver cabin space by changing the shape of manipulator according to different vehicle models, so that the human driver can sit in the cabin, together with the driver robot, monitor the testing process and take over the driver robot when necessary. The proposed pedal actuator of driver robot is composed of a flexible manipulator and end effector. The end effector which is respected to generate 500N pressure in maximum is based on ball screw pairs actuated by DC motor. The flexible manipulator is designed referring to 2-DOF universal joints. The designed prism shells around joint can improve rigidity of flexible manipulator under the condition of small size. Modular link design is used and every module has 2 degrees of freedoms. Its reaching range can be adjusted by increasing or decreasing the amount of modules. A three dimensional model has been constructed and the working principle of flexible manipulator is demonstrated in this paper. Simplified kinematics model of flexible manipulator is established, and the homogeneous coordinate transformation matrix and Denavit-Hartenberg convention are used to derive the kinematics equations. And the rotation angle of prism shell which is directly related to the servo motor angle is used to express the bending angle of the universal joint in the kinematics equations, so that it becomes straightforward and simple to solve the forward kinematics problem and control the manipulator.
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Moon, Sang-Ku, Yong-Mo Moon, Sridhar Kota, and Robert G. Landers. "Screw Theory Based Metrology for Design and Error Compensation of Machine Tools." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/dac-21083.

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Abstract The paper presents a generalized mathematical framework for computation and compensation of tool tip errors in multi-axis machine tools using screw theory. In contrast to conventional Denavit–Hartenberg notation, Screw theory offers several advantages including: (i) modeling of complex machine tool configurations with rotational axes, (ii) tractability of error propagation which simplifies solution of inverse kinematics and subsequent error-compensation procedures, and (iii) functional representation of error screws in a global reference frame rather than cumbersome coordinate transformations of local reference frames. Kinestatic filtering technique [11,12] is adopted for evaluating the compensatability of errors and the Jacobian is used for error compensation. The methodology is illustrated using a five-axis machine tool with two rotational axes.
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Geyer, David E., and Cameron J. Turner. "A Spatial Linkage Exoskeleton for a Shape-Adaptive Mobile Robot." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98221.

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Abstract With the goal of developing a spatial linkage exoskeleton for a shape-adaptive mobile robot, capable of navigating obstacle-laden environments through changes in geometry, initial research focused on the nature of axis transformations, and parameters affecting linkages, such as the Denavit-Hartenberg (DH) parameters. Building on this background, angulated linkages are developed such that a series of scissor pairs, two angulated linkages connected at their midpoints, forming a closed-loop. Using the DH parameters, the geometries are considered in the development of a planar model. A kinematic model is also developed to replicate the design in future work. A linkage was designed using SolidWorks, and then imported into MATLAB’s Simscape Multibody software where a visual, analytical model was developed. The nominal planar model acts as the basis of a spatial model. Using the spatial model, initial prototypes were built to verify the virtual model. A concept for an actuation mechanism is discussed, with a prototype built to identify any limitations. Through experimentation and analysis of the prototypes, areas for improvement in the design are identified. Future work is discussed to further mature the design and development of this solution.
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