Heterogeneous Teleoperation Model for Controlling 3D Printed Humanoid Robot Arm with 5 DOF using 3 DOF Exoskeleton

Abstract

The main objectives of the present work are to model and implement a control system of five degrees of freedom (5 DOF) humanoid arm by using an exoskeleton system with 3 DOF. The exoskeleton system is used to transport the movements of the human’s arm to the controller to control the humanoid arm by using sensors at each target joint to measure the angular displacement of it. To achieve this target, a kinematic analysis of the 5 DOF arm robot has been carried out including the forward, and solving the inverse kinematics. In addition, heterogeneous teleoperation based on forward and inverse kinematic between the humanoid arm and the exoskeleton model has been performed. Also, an experimental set up has been arranged to include the sensors considered (angular displacement sensors), control unit, signal-processing boards, and the actuators (servo motors of the humanoid arm robots). The control experiments have been conducted based on PID control.

Keywords: Forward kinematic, inverse kinematic, teleoperation, humanoid robot

Cite this Article

Elsamanty M, Sayed M, Abdr Aboo S. Heterogeneous Teleoperation Model for Controlling 3D Printed Humanoid Robot Arm with 5 DOF using 3 DOF Exoskeleton. Journal of Control & Instrumentation. 2019; 10(2): 1–15p.