Tele-manipulation of robot arm with smartphone

摘要

In order to remotely control a robot with a small size, cheap and space sensing device, in this paper we develop a smart phone-based human machine interface (HMI). It uses the accelerometer and the gyroscope of the smart phone to generate six commands. By calculating the inverse kinematics, the reference angles are send to robot arm via Wi-Fi network. The novel HMI has many advantages over the others. The experiment results show that our HMI is convenient and effective for remote control of robot arm.