Design of Robotic Arm Control System Mimics Human Arm Motion
This paper presents a control system to make the robotic hand mimic human hand motion in real time and offline mode. The human hand tracking system is a wearable sensing arm (potentiometers) used to determine the position in space and to sense the grasping task of human hand. The maskable sensing a...
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Al-Khwarizmi College of Engineering – University of Baghdad
2017-12-01
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doaj-49128dcc74d84241ba7d280b506dd0442020-11-25T00:16:48Zeng Al-Khwarizmi College of Engineering – University of BaghdadAl-Khawarizmi Engineering Journal1818-11712312-07892017-12-0191Design of Robotic Arm Control System Mimics Human Arm MotionA. Salam Al-Ammri0Ghaith A. Taki1Department of Mechatronics Engineering/ Al-Khawarizmi College of Engineering/ University of BaghdadDepartment of Mechatronics Engineering/ Al-Khawarizmi College of Engineering/ University of Baghdad This paper presents a control system to make the robotic hand mimic human hand motion in real time and offline mode. The human hand tracking system is a wearable sensing arm (potentiometers) used to determine the position in space and to sense the grasping task of human hand. The maskable sensing arm was designed with same geometrical arrangement of robotic hand that needs to be controlled. The control software of a robot was implemented using Visual Basic and supported with graphical user interface (GUI). The control algorithm depends on joint to joint mapping method to match between the motions at each joint of portable sensing arm with corresponding joint of a robot in order to make the robot mimic the motion. http://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/154Robotic ArmControlhuman hand tracking |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
A. Salam Al-Ammri Ghaith A. Taki |
spellingShingle |
A. Salam Al-Ammri Ghaith A. Taki Design of Robotic Arm Control System Mimics Human Arm Motion Al-Khawarizmi Engineering Journal Robotic Arm Control human hand tracking |
author_facet |
A. Salam Al-Ammri Ghaith A. Taki |
author_sort |
A. Salam Al-Ammri |
title |
Design of Robotic Arm Control System Mimics Human Arm Motion |
title_short |
Design of Robotic Arm Control System Mimics Human Arm Motion |
title_full |
Design of Robotic Arm Control System Mimics Human Arm Motion |
title_fullStr |
Design of Robotic Arm Control System Mimics Human Arm Motion |
title_full_unstemmed |
Design of Robotic Arm Control System Mimics Human Arm Motion |
title_sort |
design of robotic arm control system mimics human arm motion |
publisher |
Al-Khwarizmi College of Engineering – University of Baghdad |
series |
Al-Khawarizmi Engineering Journal |
issn |
1818-1171 2312-0789 |
publishDate |
2017-12-01 |
description |
This paper presents a control system to make the robotic hand mimic human hand motion in real time and offline mode. The human hand tracking system is a wearable sensing arm (potentiometers) used to determine the position in space and to sense the grasping task of human hand. The maskable sensing arm was designed with same geometrical arrangement of robotic hand that needs to be controlled. The control software of a robot was implemented using Visual Basic and supported with graphical user interface (GUI). The control algorithm depends on joint to joint mapping method to match between the motions at each joint of portable sensing arm with corresponding joint of a robot in order to make the robot mimic the motion.
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topic |
Robotic Arm Control human hand tracking |
url |
http://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/154 |
work_keys_str_mv |
AT asalamalammri designofroboticarmcontrolsystemmimicshumanarmmotion AT ghaithataki designofroboticarmcontrolsystemmimicshumanarmmotion |
_version_ |
1725382577085218816 |