Inertial sensor based wireless control of a robotic arm

Abstract

This paper describes and details the development of a wireless motion sensing control unit, whose operation is based on inertial sensors, and extends its application to the control of an anthropomorphic robotic arm. Accelerometers and a gyroscope are used to measure the orientation of the users lower arm and this data is transmitted wirelessly to a receiver where processing is carried out. The robotic arm is programmed to mimic the movements of the users arm. Data processing has been carried out on low-cost microcontrollers and the use of filters to smoothen the operation of the arm has been explored. The data transmitted from the control unit has been analysed and plotted in real time on a computer using MATLab, and the orientation of the control unit tracked and displayed. This system has potential application in fields including industrial operations, remote operations in hazardous areas, medicine and undersea recovery.