Teleoperated Robotic Arm (ToRA)

The Teleoperated robot control system allows humans to operate at a certain distance. It is composed of a master device used by the operator and a slave device which follows the commands of the operator. In dangerous and hostile environments, teleoperation systems are implemented so that a person ca...

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Main Authors: Lee, Carlo Miguel C., Paltao, Mark Angelo F., Pascua, Henny Shiela C., Rodriguez, Lawrence T.
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Language:English
Published: Animo Repository 2009
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Online Access:https://animorepository.dlsu.edu.ph/etd_bachelors/14485
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Institution: De La Salle University
Language: English
id oai:animorepository.dlsu.edu.ph:etd_bachelors-15127
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spelling oai:animorepository.dlsu.edu.ph:etd_bachelors-151272021-11-04T06:37:56Z Teleoperated Robotic Arm (ToRA) Lee, Carlo Miguel C. Paltao, Mark Angelo F. Pascua, Henny Shiela C. Rodriguez, Lawrence T. The Teleoperated robot control system allows humans to operate at a certain distance. It is composed of a master device used by the operator and a slave device which follows the commands of the operator. In dangerous and hostile environments, teleoperation systems are implemented so that a person can perform a task from a different location where it is safe. This study focuses on constructing a teleoperated robot arm control system composed of a master-slave configuration of simulation control by a computer and a robot arm that would be able to mimic the movements of a human arm. The virtual manipulator which is the master is simulated while the robot arm, equipped with motors, is used as representation of the slave in the master-slave configuration. The virtual manipulator makes use of kinematic equations to provide the correct position and orientation of the virtual arm. The path planning implementation for the movement of the arm is a direct, straight path using best first search in the workspace through comparisons of Euclidian distances. The P.I.D. control system minimized the steady state error and improved system response. The combination of actuators placed on the joints of the arm, forearm and wrist covers a total of four (4) degrees of freedom of the robotic arm. 2009-01-01T08:00:00Z text https://animorepository.dlsu.edu.ph/etd_bachelors/14485 Bachelor's Theses English Animo Repository Robotics Robots--Control systems Automatic control Manipulators (Mechanism)--Automatic control Systems engineering
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
language English
topic Robotics
Robots--Control systems
Automatic control
Manipulators (Mechanism)--Automatic control
Systems engineering
spellingShingle Robotics
Robots--Control systems
Automatic control
Manipulators (Mechanism)--Automatic control
Systems engineering
Lee, Carlo Miguel C.
Paltao, Mark Angelo F.
Pascua, Henny Shiela C.
Rodriguez, Lawrence T.
Teleoperated Robotic Arm (ToRA)
description The Teleoperated robot control system allows humans to operate at a certain distance. It is composed of a master device used by the operator and a slave device which follows the commands of the operator. In dangerous and hostile environments, teleoperation systems are implemented so that a person can perform a task from a different location where it is safe. This study focuses on constructing a teleoperated robot arm control system composed of a master-slave configuration of simulation control by a computer and a robot arm that would be able to mimic the movements of a human arm. The virtual manipulator which is the master is simulated while the robot arm, equipped with motors, is used as representation of the slave in the master-slave configuration. The virtual manipulator makes use of kinematic equations to provide the correct position and orientation of the virtual arm. The path planning implementation for the movement of the arm is a direct, straight path using best first search in the workspace through comparisons of Euclidian distances. The P.I.D. control system minimized the steady state error and improved system response. The combination of actuators placed on the joints of the arm, forearm and wrist covers a total of four (4) degrees of freedom of the robotic arm.
format text
author Lee, Carlo Miguel C.
Paltao, Mark Angelo F.
Pascua, Henny Shiela C.
Rodriguez, Lawrence T.
author_facet Lee, Carlo Miguel C.
Paltao, Mark Angelo F.
Pascua, Henny Shiela C.
Rodriguez, Lawrence T.
author_sort Lee, Carlo Miguel C.
title Teleoperated Robotic Arm (ToRA)
title_short Teleoperated Robotic Arm (ToRA)
title_full Teleoperated Robotic Arm (ToRA)
title_fullStr Teleoperated Robotic Arm (ToRA)
title_full_unstemmed Teleoperated Robotic Arm (ToRA)
title_sort teleoperated robotic arm (tora)
publisher Animo Repository
publishDate 2009
url https://animorepository.dlsu.edu.ph/etd_bachelors/14485
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