Single Spatial Sensor Control of Robotic Arms

Easterbrook, Damian (2019) Single Spatial Sensor Control of Robotic Arms. [USQ Project]

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Abstract

This project explores the feasibility of using an accelerometer to measure displacements for the purpose of controlling robotic arms such as excavators as well as many other kinds of arm. The intention is to provide a means for the ‘average Joe’ to easily control these devices without the need for a steep learning curve and to potentially allow experienced operators an easier pathway to control heavy earth moving machinery.

A methodology was developed where by a robotic platform including a robotic arm was designed implementing inverse kinematics for location and orientation control. Three control methods were implemented on this robotic platform including the traditional joystick control, a HTC Vive and an inertial measuring unit (IMU). Of particular interest to this project was the mitigation of the errors produced when implementing an IMU which increase quadratically for a given error input.

The errors were mitigated through several assumptions made about the use of the IMU. The resulting system resembled the gesturing system appearing in popular mobile device applications such as step counters on fitness applications. The use of the system felt like using a ratchet.

The final system was compared to the joysticks and the HTC Vive which demonstrated evidence that the IMU is effective as a method of control as the HTC Vive if somewhat slower. When compared to the joystick control method, the evidence suggests that the IMU is both faster and more accurate however, the experienced user remains untested to this date.


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Item Type: USQ Project
Item Status: Live Archive
Additional Information: Bachelor of Engineering (Honours)(Mechatronic)
Faculty/School / Institute/Centre: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering (1 Jul 2013 -)
Faculty/School / Institute/Centre: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering (1 Jul 2013 -)
Supervisors: Low, Tobias
Date Deposited: 23 Aug 2021 02:59
Last Modified: 23 Aug 2021 02:59
URI: http://eprints.usq.edu.au/id/eprint/43160

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