Gyro-accelerometer based control of a robotic Arm using AVR microcontroller

摘要

Most of the robotic arm is controlled by using accelerometer sensor with an artificial intelligent algorithm. This paper is proposed a gesture recognition based 6DOF robotic arm controller using gyro-meter with accelerometer to improve the stability and to detect the rotational gesture of human arm. The arm also has the capability to grab object. To find out the angular position of an object, it is easiest way to fuse 3axis accelerometer and 3axis gyro-meter sensor. A low cost MEMs chip (integrated 3-axis accelerometer and 3-axis gyro-meter) used to detect human arm gesture as well as its angular position. Here gyro gives gesture orientation data to determine dynamic gesture behavior. An artificial algorithm used to evaluate all gesture data which helps to train the robotic arm. The most popular Kalman filter used to find out the exact position of human arm more accurately. The communication between human hand and robotic arm interaction has been established wirelessly over IEEE standard Zigbee protocol interface. The result is that the arm's movement is synchronous with human arm gesture i.e. like a shadow mode. The artificial arm response time is very fast with human arm gesture. The control strategy is easier than other systems like joystick control and this system applicable for industrial purposes. This robotic arm has been developed in Arduino IDE platform and it is also applicable in different platform like embedded, intelligent peripheral and so on. In conclusion, some tests has been performed with this robotic arm and the results are discussed.