Design and development of 6-DOF robotic arm controlled by Man Machine Interface

摘要

This paper presents the design and development of a low cost and user friendly interface for the control of a 6-DOF slave tele-operated anthropomorphic robotic arm. Articulation of the robotic arm is achieved about six single-axis revolute joints: one for each shoulder abduction-adduction (abd-add), shoulder flexion-extension (flx-ext), elbow flx-ext, wrist flx-ext, wrist radial-ulnar (rad-uln), and gripper open-close. Tele-operator, master, uses the Man Machine Interface (MMI) to operate in real-time the robotic arm. The MMI has simple motion capture devices that translate motion into analog voltages which bring about the corresponding actuating signals in the robotic arm.