Mimicry Control of the Human Arm to Robot Arm

Authors

  • Saad Alkazzaz Mousl University, Dept. of Electrica/Electroni, Erbil 44001, Iraq
  • Ahmed Aljanabi Mousl University, Dept. of Electrica/Electroni, Erbil 44001, Iraq

Keywords:

PWM, PID, Arduino DUE, DOF, Servo.

Abstract

In this work presented Mimicry control of the human arm to robot arm where robots more often than not we need to control them manually to the run of the non-programmed has previously work. This requires experiment the robot arm of the human arm response , Carried out the work submitted to build a metal structure for the robot arm( articulate type 5DOF) then drive torque equation in each joint and calculate the maximum torque in each joint  in the horizontal position of the robot arm and calculate the direct kinematics for the end effect , after add electrical actuator fit with maximum torque on the arm and added  position sensors and driver (h-bridge ) , electrical component has assembled and connected with micro controller (Arduino Due )  witch programming as proportional integral differential (PID) controller . then added the flex sensor position to human arm to measure the angels of joint , this sensor is connected to microcontroller Arduino Uno and programmed to process the zero and span function for sensors and send the data by wireless shield via RS port to the Arduino Due  and run the system.

References

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Published

2016-05-19

How to Cite

Alkazzaz, S., & Aljanabi, A. (2016). Mimicry Control of the Human Arm to Robot Arm. American Scientific Research Journal for Engineering, Technology, and Sciences, 19(1), 178–190. Retrieved from https://asrjetsjournal.org/index.php/American_Scientific_Journal/article/view/1686

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Articles