Low-cost robotic arm control

John R. Rogers

doi:10.1117/12.784331

22 April 2008 Low-cost robotic arm control

John R. Rogers

Proceedings Volume 6962, Unmanned Systems Technology X; 696212 (2008) https://doi.org/10.1117/12.784331
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

A low-cost robotic arm and controller system is presented. The controller is a desktop model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. Manipulating the controller by hand causes the robotic arm to mimic the movement in maser-slave fashion. The system takes advantage of the low cost and wide availability of hobby radio control components and uses a low-cost, easy-to-program microprocessor. The system is implemented with a video camera on the robotic arm, and the arm is mounted on an unmanned omnidirectional vehicle inspection robot. With a camera on the end of a robot arm, the vehicle inspection system can reach difficult to-access regions of the vehicle underbody. Learning to manipulate the robot arm with this controller is faster than learning with a traditional joystick. Limitations of the microcontroller are discussed, and suggestions for further development of the robot arm and control are made.

Citation Download Citation

John R. Rogers "Low-cost robotic arm control", Proc. SPIE 6962, Unmanned Systems Technology X, 696212 (22 April 2008); https://doi.org/10.1117/12.784331

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