Microcontroller-based humanoid robotic arms with computer aided programming

• Main Authors: Carandang, Martin Alden A., Chiu, Sheena Jeanne L., Garcia, Edwin Jaustin M., Musngi, Magnus Michael M., Zabala, Armando C.
• Format: text
• Language: English
• Published: Animo Repository 2009
• Subjects: Programmable controllers; Robotics; Manipulators (Mechanism) > Design and construction
• Online Access: https://animorepository.dlsu.edu.ph/etd_honors/276
• Institution: De La Salle University

This research is focused on developing a pair of six degrees-of-freedom robotic arms which will be able to mimic the movements similar of those of the human arm. An end effecter is also developed in this study to facilitate the testing in terms of grasping and lifting of objects up to 150 grams per arm. The full length of each robotic arms is roughly 10 to 12 inches and has a 3-fingered gripper attached to its end. The robotic arms will be able to pass objects from one arm to the other. The system will utilize a single microcontroller per arm that will handle the motor control and will be supervised by a master microcontroller that will give the necessary instructions to the robotic arms. Feedback will be taken from the servo motors and force-sensing resistors (FSR) in determining the positions of the arm and the amount of grip being developed. A GUI for PC and a portable memory interface are developed for ease in giving instructions to the robotic arm hardware. Manual control of the robotic arms is also possible.