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Robotic Arm controlled by Arm Movements
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Robotarm som följer armrörelser (Swedish)
Abstract [en]

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.

Abstract [sv]

Under senare årtionden har mänskliga arbetare inom tillverkning och industri över lag i stor utsträckning ersatts av robotar och automatiserade maskiner, men det finns fortfarande uppgifter som kräver mänsklig tankeförmåga. Denna rapport presenterar utvecklingen av en trådlös robotarm styrd av en människas arm, vilket möjliggör både att kombinera en maskins styrka med en människas intelligens, samt för en människa att utföra dynamiska uppgifter utan att vara närvarande. En applikation lämplig för arbete i farliga miljöer. Detta uppnåddes med en styrenhet i form av ett exo-skelett fastsatt på operatörens högra arm och kopplad till robotarmen genom en sändare. Styrenheten mäter rörelserna i varje led med potentiometrar och robotarmen härmar dessa rörelser. En handske med en flexsensor på pekfingret fästes sedan på styrenheten för att mäta fingerrörelsen. All information som innehåller vinklar skickas trådlöst till robotarmen med hjälp av Arduino Uno och transceiver moduler. Robotarmen mottog informationen via en annan uppsättning Arduino Uno och transceiver modul som fick varje servomotor på robotarmen att rotera i enlighet.

Resultatet visade att robotarmen kunde imitera operatörens arm väl och kunde bära olika föremål med olika vikter och ytor. Den trådlösa styrningen var pålitlig och kunde styra robotarmen från ett annat rum, vilket gör det möjligt att använda denna robot i skadliga miljöer för människor.

Place, publisher, year, edition, pages
2019. , p. 43
Series
TRITA-ITM-EX ; 2019:26
Keywords [en]
Mechatronics, Robotic arm, Remote Control, Wireless.
Keywords [sv]
Mekatronik, Robotarm, Fjärrstyrning, Trådlös.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264509OAI: oai:DiVA.org:kth-264509DiVA, id: diva2:1373883
Supervisors
Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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