Microcontroller-based humanoid robotic arms with computer aided programming

Date of Publication

2009

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Engineering

College

Gokongwei College of Engineering

Department/Unit

Electronics and Communications Engineering

Honor/Award

Awarded as best thesis, 2009

Thesis Adviser

Elmer Jose P. Dadios

Defense Panel Chair

Aaron Don M. Africa

Defense Panel Member

Ann E. Dulay
Enrique M. Manzano

Abstract/Summary

This research is focused on developing a pair of six degrees-of-freedom robotic arms which will be able to mimic the movements similar of those of the human arm. An end effecter is also developed in this study to facilitate the testing in terms of grasping and lifting of objects up to 150 grams per arm. The full length of each robotic arms is roughly 10 to 12 inches and has a 3-fingered gripper attached to its end. The robotic arms will be able to pass objects from one arm to the other.

The system will utilize a single microcontroller per arm that will handle the motor control and will be supervised by a master microcontroller that will give the necessary instructions to the robotic arms. Feedback will be taken from the servo motors and force-sensing resistors (FSR) in determining the positions of the arm and the amount of grip being developed. A GUI for PC and a portable memory interface are developed for ease in giving instructions to the robotic arm hardware. Manual control of the robotic arms is also possible.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU14871

Shelf Location

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

Physical Description

xvi, 115, [297] leaves : ill. (some col.) ; 28 cm.

Keywords

Programmable controllers; Robotics; Manipulators (Mechanism)--Design and construction

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