Robotic Arm controlled by Arm Movements

University essay from KTH/Skolan för industriell teknik och management (ITM); KTH/Skolan för industriell teknik och management (ITM)

Abstract: In recent decades human workers in manufacturing and overall industry have largely been replaced with robots and automated machines, but there are still plenty of tasks where human cognition is necessary. This paper presents the development of a wireless robotic arm controlled by a human arm, allowing both for the combination of a robotic arms strength to be combined with a humans cognition, and also for a human to execute dynamic tasks without being present. An application suited for work in toxic or otherwise harmful environments. This was accomplished by using a controller in the form of an exo-skeleton attached to the operators right arm and connected to the robotic arm through a transmitter. The controller measures the movements in each joint using potentiometers and the robotic arm mimics these movements. A glove with a flex sensor on the index finger was then attached to the controller to measure the finger motions. All the information containing the angle of rotations are sent wirelessly to the robotic arm using Arduino Uno and transceiver modules. The robotic arm received the information through another set of Arduino Uno and transceiver module which made each servomotor on the robotic arm to move accordingly. The result showed that the robotic arm could imitate the operator’s arm very well and was able to grab and move dierent objects with dierent weight and surfaces. The wireless control was reliable and could control the robotic arm while being in a dierent room, making it possible to use this robot for harmful environments for humans.

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