Design And Development Of Hand-Glove Controlled Robot Arm System

Cham, Kah Yi (2016) Design And Development Of Hand-Glove Controlled Robot Arm System. Project Report. UTeM, Melaka, Malaysia . (Submitted)

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Abstract

In this modern technology era, robotic arms are widely used in automation industry, medicine, and military. Most of these industrial robotic arm system are controlled by using teach pendant. However, this control method is still a tedious task. Therefore, this project is about to make an improvement for the control method of robotic arm. The objective of this project is to develop a wireless hand-glove controlled of robotic arm system. This allows user to control the robotic arm in an intuitive way. A robotic arm consists of 3 degree of freedom is developed. A wireless hand glove controller is designed and developed to control the robotic arm motion wirelessly. Flex sensor and MPU 6050 sensor are used to sense the finger motion and the wrist motion of human hands. Arduino Uno is used as the controllers of the system. Zigbee module is used for wireless communication because it has a wider range of data transmission. Few experiments were conducted to analyse the accuracy and repeatability for the angle rotation and pick and place motion. The average accuracy for each motion is around 0.990 to 0.998 while the standard deviation for each motion is very low which are around 0 to 1.90. Hence, each motion shows a high accuracy and repeatability in angle rotation. For the pick and place motion, all the accuracy for each trial is around 0.988 to 1. The standard deviation for the experiment is very small which is only 0.1339. Therefore, the system has a high accuracy and repeatability in pick and place motion. In conclusion, the wireless hand glove controlled robotic arm has a high performance in terms of accuracy and repeatability.

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