| 摘要(英) |
There are more and more applications of Multiple-Axis Robotic Arm to various fields in these decades, and the traditional control methods for robotic arm are hard to deal with these more and more complicated works. If there is a way to operate robotic arms which is close to how a person works with his arms, the operators can easily learn how to operate them and work with it quickly. The idea comes that if a person wears sensors on his arms, these sensors can record the position, move speeds, and other useful data. With these data, the robotic arms can be controlled, work as how operator wave his arms, and are much easier to be used.
In this thesis, we use several sensors which are worn on a person’s arms and fingers to operate robotic arms, and these sensors detect what hands move. The system is composed by Six-Axis Robotic Arm, MSC-8051 and wearable electronic components. The wearable electronic components includes: (i) gyroscope, to detect how hands move, such as waving up, down, left, right, and rotation; (ii) acceleration sensor, to detect the angle of inclination, so that the servomotors incline the robotic arm; (iii) pressure sensor, to detect if the fingers are squeezed or relaxed, so that the clamping apparatus works as the same way to grab stuff; and (iv) reed switch, which lets operators to turn on or turn off I2C controls to gyroscope by press the switch. This system completely detects the action and gesture of human arms, and control robotic arms to do the same ways. This makes robotic arms can do complicated action such as taking things anywhere in 3 dimension space.
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| 參考文獻 |
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