Teleoperated Robotic Arm (ToRA)

Date of Publication


Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Science


College of Computer Studies


Computer Science

Thesis Adviser

Gregory G. Cu

Defense Panel Member

Alexis V. Pantola
Karlo Shane O. Campos
Ana Marian M. Pedro


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






Accession Number


Shelf Location

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

Physical Description

1 v. (various foliations) : ill. (some col.) ; 28 cm.


Robotics; Robots--Control systems; Automatic control; Manipulators (Mechanism)--Automatic control; Systems engineering

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