Kinect-based teleoperated pseudo-anthropomorphic robotic arm

Date of Publication

2013

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Electronics and Communications Engineering

Subject Categories

Electrical and Electronics

College

Gokongwei College of Engineering

Department/Unit

Electronics and Communications Engineering

Thesis Adviser

Elmer R. Magsino

Defense Panel Chair

Alexander C. Abad

Defense Panel Member

Argel A. Bandala
Mark Lorenzo R. Torregoza

Abstract/Summary

The objective of this study is to develop a pseudo-anthropomorphic robotic arm that is controlled through a motion capture device. The study aims to present an alternative method to robot control. Utilization of motion capture to control a pseudo-anthropomorphic arm can make the control initiative and straightforward for its operator. This can contribute to robot applications wherein accurate control is necessary. This pseudo-anthropomorphic robotic arm has four degrees of freedom, specifically, shoulder yaw and pitch, elbow pitch and wrist pitch. The motion capture device used is the Microsoft Kinect which detects its operator’s arm position. Data from the Kinect is fed through a computer and a PIC microcontroller in order to control the motors of the robotic arm. The PIC microcontroller is responsible for generating pulse width modulation that will power the motors. Encoders are used to determine the position of the motors. A PI controller is used as the feedback controller and is implemented also through the PIC microcontroller. Testing was done in order to determine how well the robotic arm is able to follow the operator's arm position. Through this study the Kinect was shown to be a capable method to control a pseudo-anthropomorphic robotic arm with four degree of freedom.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU18238

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

xx, 290 leaves ; 28 cm.

Keywords

Robotics--Human factors; Robots--Control systems; Human-robot interaction

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