Coupling of Limit Switch Sensors and Stepper Motors with Acoustic Feedback for Positioning of a Cartesian Robot End Effector in the Study of Musical Instruments

Abstract

This article discusses the innovative application of a Cartesian robot manipulator with acoustic feedback for calibration and precise positioning of a string-excitation element in investigating stringed instruments. It describes an experiment in which an acoustic guitar string is automatically excited with different guitar picks. The robot’s end effector positioning system utilizes limit switches, acting as a mechanical sensor, which provides feedback to the linear actuators that are equipped with stepper motors. The authors detail the research challenges they faced and propose a positioning algorithm that makes use of a microphone as an acoustic sensor, improving the calibration of the end effector’s position.