IR Motion Tracking Robotic Arm

The Motion Tracking Robot Arm is a senior Electrical Engineering Capstone project designed by Andrew Doan, Avery Guillermo, Gavin Low, and Dayna Yoshimura. The project serves as an exploration of alternative control methods for robotic arms. While standard robotic arms are often controlled with physical controllers or computer programs, this robotic arm will be controlled with a LEAP motion controller. The user will be able to control the robotic arm using his or her own arm; no extra control inputs will be necessary.https://pilotscholars.up.edu/egr_project/1005/thumbnail.jp

Design and implementation of Camera Based Object Tracking in 3D Space

Object tracking is the task of capturing the 3D position and pose of an object from frame to frame.In this paper we have presented an application based on gesture to control robotic arm through human arm.This arm is based on ATmega16.It is a servo motor based robotic arm with multiple degrees of freedom and having capability to rotate at maximum point in region.This microcontroller based servo motor controller will be controlled through computer system in order to control the individual motor on the basis of provided angle. The Vb.net designed software processing approach has created human computer interaction in order to control hardware baesd robotic arm in 3D co-ordinates

Three-dimensional computerized model of an elastic robotic arm

Interactive computer simulation software in the area of robotics is becoming increasingly important. The present work involved the creation of a computer simulation software package for an elastic robotic arm. The computer simulation was unique in four major areas. Using a specialized Silicon Graphics IRIS Workstation, a three-dimensional model of the three-link elastic robotic arm, controlled by two hydraulic actuators, was created. The software simulation developed in the present work was highly interactive with the user. The user is able to move the different links, change parameters, and alter dynamic applied forces. The kinematics were modelled. A user was allowed to change the kinematic variables by either moving the different links or by changing the magnitude of the two actuator forces. The deformations of the robotic arm were modelled and presented in both graphic and analytical form

Design of robotic arm controller based on Internet of Things (IoT)

This paper presents the process of developing a controller for a robotic arm that is built through the Internet of Things (IoT).The direction of the robotic arm can be monitored and controlled using internet facilities. The Raspberry Pi board is utilized in this project for the robotic arm controller as well as the web server system.The robotic arm comprises four servo motors and each of the servo motors is assigned with a single pulse width modulation (PWM) output that can be individually controlled.The controller system is implemented on Raspberry Pi board using Python 2.7 programming language.Node-Red is used as a web server in this project to communicate with the web browser through TCP/HTTP.Hence, this allows the user to access the web browser using computer or smartphones.In addition, it enables the monitoring and controlling of the robotic arm direction as well as performing pick and place task similar to the manufacturing industry.The results of this study are verified through practical test implementation

Real-Time Robot Control Using Leap Motion A Concept of Human-Robot Interaction

© ASEE 2015With the advent of robots in various industries, countless tasks that are complex for humans are made easier than ever before. Thanks to their functionality and accuracy we are able to achieve high productivity while investing less cost. As we see into our future of manufacturing industries, we also see that robots will replace most of the human workers to achieve faster production. All these areas use automated robotic arms which do certain tasks assigned to them with amazing speeds and pin point accuracy, because of the mathematical calculations done by the computer and are not manually controlled by humans. However, no robot can match the dexterity of a human hand. In order to control a robotic arm manually, the operator should carefully manipulate every joint in the arm to a perfect angle. Just as it sounds, it is very tedious to control them manually, that’s why they are left to the computers. But, areas such as medicine, space research, and military robotics require robot arms to be manually controlled to operate with objects that cannot be dealt with human hands. Existing systems provide traditional controllers that are not efficient to handle a robotic arm and is time consuming. To achieve speed and accuracy like automated robots, we need a new approach that can bridge this gap. Here comes the Leap Motion Technology, a latest invention in Human-Computer interaction area. Using this device we track a human hand in air accurate to millimeter. The position of hand is then used to calculate the joint angles that in turn help us to rotate the robotic arm joints by the computer with blazing speeds

Embed System for Robotic Arm with 3 Degree of Freedom Controller using Computational Vision on Real-Time

This Paper deals with robotic arm embed controller system, with distributed system based on protocol communication between one server supporting multiple points and mobile applications trough sockets .The proposed system utilizes hand with glove gesture in three-dimensional recognition using fuzzy implementation to set x,y,z coordinates. This approach present all implementation over: two raspberry PI arm based computer running client program, x64 PC running server program, and one robot arm controlled by ATmega328p based board.Comment: 8 pages,9 figures, published on AIFL 2014 conference (AIFL-2014 Submission 20

Design of Robotic Arm Controller based on Internet of Things (IoT)

This paper presents the process of developing a controller for a robotic arm that is built through the Internet of Things (IoT). The direction of the robotic arm can be monitored and controlled using internet facilities. The Raspberry Pi board is utilized in this project for the robotic arm controller as well as the web server system. The robotic arm comprises four servo motors and each of the servo motors is assigned with a single pulse width modulation (PWM) output that can be individually controlled. The controller system is implemented on Raspberry Pi board using Python 2.7 programming language. Node-Red is used as a web server in this project to communicate with the web browser through TCP/HTTP. Hence, this allows the user to access the web browser using computer or smartphones. In addition, it enables the monitoring and controlling of the robotic arm direction as well as performing pick and place task similar to the manufacturing industry. The results of this study are verified through practical test implementation

Development of hybrid force-position controller for ultrasound-guided breast biopsy robotic system

Conventional ultrasound-guided breast biopsy (UGBB) procedure is commonly performed to assess abnormal masses within the breast. It requires a radiologist to handle multiple devices at once, which could reduce the abilities in performing such procedure resulting in radiologist’s fatigue, compromised breast tissue due to multiple insertions and susceptibilities to pneumothorax complication for the patient. Previous studies have reported that many of the restrictions associated with handheld minimally invasive methods were tackled when physician assist instruments were used. Therefore, the purpose of this research is to assist radiologist in conventional UGBB procedure by introducing a semi-automated robotic system to maintain desired contact force between the ultrasound transducer and the breast. For that reason, a hybrid force/position controlled UGBB robotic system has been developed in simulation environment. The UGBB robotic system involves a 5 degree of freedom (DOF) articulated robot arm to control the transducer movement, a force/torque (F/T) sensor system to measure the contact force, an ultrasound machine to view the inside structure of the breast tissue and a computer-based control system. As such, the RV-2AJ robotic arm has been modelled with its positional accuracy of almost 100%. A breast model based on a medical grade breast phantom has been established with a mean error of 0.69% by using black-box modelling approach. Motion disturbance from human respiration has been explored as well since it plays a significant element that would affect the stability of the system to constantly maintain low contact force on the breast.Finally, intelligent Fuzzy-PID hybrid force/position controller has been successfully established to maintain low contact force on identified breast stiffness characteristics. The overall hardware-based simulation shows promising outcomes with almost no overshoot, fast rise time, high robustness and stability on different environment condition. In conclusion, the success of this work serves as significant foundations for long-term related research, especially in the development of UGBB robotic system and approaches of force control mainly for human-robot interaction

In-home and remote use of robotic body surrogates by people with profound motor deficits

By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit further investigation.Comment: 43 Pages, 13 Figure