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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Autores principales:	A. Salam Al-Ammri, Ghaith A. Taki
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	Robotic Arm Control human hand tracking Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/49128dcc74d84241ba7d280b506dd044
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spelling	oai:doaj.org-article:49128dcc74d84241ba7d280b506dd0442021-12-02T05:28:19ZDesign of Robotic Arm Control System Mimics Human Arm Motion1818-11712312-0789https://doaj.org/article/49128dcc74d84241ba7d280b506dd0442017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/154https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 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. A. Salam Al-AmmriGhaith A. TakiAl-Khwarizmi College of Engineering – University of BaghdadarticleRobotic ArmControlhuman hand trackingChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 9, Iss 1 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Robotic Arm Control human hand tracking Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Robotic Arm Control human hand tracking Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 A. Salam Al-Ammri Ghaith A. Taki Design of Robotic Arm Control System Mimics Human Arm Motion
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.
format	article
author	A. Salam Al-Ammri Ghaith A. Taki
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
publishDate	2017
url	https://doaj.org/article/49128dcc74d84241ba7d280b506dd044
work_keys_str_mv	AT asalamalammri designofroboticarmcontrolsystemmimicshumanarmmotion AT ghaithataki designofroboticarmcontrolsystemmimicshumanarmmotion
_version_	1718400349328375808

Design of Robotic Arm Control System Mimics Human Arm Motion

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