{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:47:23Z","timestamp":1760237243682,"version":"build-2065373602"},"reference-count":46,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2020,3,18]],"date-time":"2020-03-18T00:00:00Z","timestamp":1584489600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This article presents a methodology to recycle and upgrade a 4-DOF educational robot manipulator with a gripper. The robot is upgraded by providing it an artificial vision that allows obtaining the position and shape of objects collected by it. A low-cost and open-source hardware solution is also proposed to achieve motion control of the robot through a decentralized control scheme. The robot joints are actuated through five direct current motors coupled to optical encoders. Each encoder signal is fed to a proportional integral derivative controller with anti-windup that employs the motor velocity provided by a state observer. The motion controller works with only two open-architecture Arduino Mega boards, which carry out data acquisition of the optical encoder signals. MATLAB-Simulink is used to implement the controller as well as a friendly graphical interface, which allows the user to interact with the manipulator. The communication between the Arduino boards and MATLAB-Simulink is performed in real-time utilizing the Arduino IO Toolbox. Through the proposed controller, the robot follows a trajectory to collect a desired object, avoiding its collision with other objects. This fact is verified through a set of experiments presented in the paper.<\/jats:p>","DOI":"10.3390\/s20061694","type":"journal-article","created":{"date-parts":[[2020,3,19]],"date-time":"2020-03-19T03:54:14Z","timestamp":1584590054000},"page":"1694","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9005-3584","authenticated-orcid":false,"given":"Antonio","family":"Concha S\u00e1nchez","sequence":"first","affiliation":[{"name":"Facultad de Ingenier\u00eda Mec\u00e1nica y El\u00e9ctrica, Universidad de Colima, Coquimatl\u00e1n Colima 28400, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5528-7676","authenticated-orcid":false,"given":"Juan Felipe","family":"Figueroa-Rodr\u00edguez","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda Mec\u00e1nica y El\u00e9ctrica, Universidad de Colima, Coquimatl\u00e1n Colima 28400, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6804-6695","authenticated-orcid":false,"given":"Andr\u00e9s Gerardo","family":"Fuentes-Covarrubias","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda Mec\u00e1nica y El\u00e9ctrica, Universidad de Colima, Coquimatl\u00e1n Colima 28400, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8915-1726","authenticated-orcid":false,"given":"Ricardo","family":"Fuentes-Covarrubias","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda Mec\u00e1nica y El\u00e9ctrica, Universidad de Colima, Coquimatl\u00e1n Colima 28400, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7974-7825","authenticated-orcid":false,"given":"Suresh Kumar","family":"Gadi","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda Mec\u00e1nica y El\u00e9ctrica, Universidad Aut\u00f3noma de Coahuila, Torre\u00f3n, Coahuila 27276, Mexico"}]}],"member":"1968","published-online":{"date-parts":[[2020,3,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1007\/s00502-013-0131-7","article-title":"End of life management of industrial robots","volume":"130","author":"Kopacek","year":"2013","journal-title":"Elektrotech. 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