Teleoperated Robotic Arm (ToRA)
Date of Publication
2009
Document Type
Bachelor's Thesis
Degree Name
Bachelor of Science in Computer Science
College
College of Computer Studies
Department/Unit
Computer Science
Thesis Adviser
Gregory G. Cu
Defense Panel Member
Alexis V. Pantola
Karlo Shane O. Campos
Ana Marian M. Pedro
Abstract/Summary
The Teleoperated robot control system allows humans to operate at a certain distance. It is composed of a master device used by the operator and a slave device which follows the commands of the operator. In dangerous and hostile environments, teleoperation systems are implemented so that a person can perform a task from a different location where it is safe. This study focuses on constructing a teleoperated robot arm control system composed of a master-slave configuration of simulation control by a computer and a robot arm that would be able to mimic the movements of a human arm. The virtual manipulator which is the master is simulated while the robot arm, equipped with motors, is used as representation of the slave in the master-slave configuration.
The virtual manipulator makes use of kinematic equations to provide the correct position and orientation of the virtual arm. The path planning implementation for the movement of the arm is a direct, straight path using best first search in the workspace through comparisons of Euclidian distances.
The P.I.D. control system minimized the steady state error and improved system response. The combination of actuators placed on the joints of the arm, forearm and wrist covers a total of four (4) degrees of freedom of the robotic arm.
Abstract Format
html
Language
English
Format
Accession Number
TU15138
Shelf Location
Archives, The Learning Commons, 12F, Henry Sy Sr. Hall
Physical Description
1 v. (various foliations) : ill. (some col.) ; 28 cm.
Keywords
Robotics; Robots--Control systems; Automatic control; Manipulators (Mechanism)--Automatic control; Systems engineering
Recommended Citation
Lee, C. C., Paltao, M. F., Pascua, H. C., & Rodriguez, L. T. (2009). Teleoperated Robotic Arm (ToRA). Retrieved from https://animorepository.dlsu.edu.ph/etd_bachelors/14485
