Gyroscope-Based Intuitive Control of Robotic Arm

• Main Authors: ke-wei huang, 黃可瑋
• Other Authors: mei-yong chen
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/63795208881215444112

碩士 === 國立臺灣師範大學 === 機電科技學系 === 101 === There are many limitations of control the robotic arm. The operator must have professional background knowledge, and must have programming abilities. Programming languages are greatly independent, therefore, generally only the programmers are able to understand the entire functioning process. If others wanted to understand the principle of operation of the entire program, it would take much time and much energy. The objective of this research is to allow operators who do not understand programming languages to intuitively control the robotic arm using the gyroscope. After observing the human arm, this thesis design a robotic arm that simulates the human arm. using the original RoboPlus software program for the CM-700 controller, together with the LabVIEW software. There are two control modes, the computer control mode and the gyroscope control mode. The computer control mode includes automatic control mode, and semi-automatic control mode. In the gyroscope control mode, the low-costing gyroscope is attached to the operator’s arm. After allowing the operator to practice the previously designed movements, it is able to train the control system through Compensation value. The trained control system can control the robotic arm accurately through the signals from the gyroscope on the operator’s arms. After the control system has been trained, it allow the operator to freely control the robotic arm, achieving the objective of intuitive control.