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ABSTRACT
This paper presents experimental results from a new design of Wearable Robotic Arm Input (WRAI) to control the
movement of an Articulated Arm Manipulator (AAM ) having 5degree of freedom. SimMechanics and Virtual Reality
toolboxes from MATLAB are used to model the AAM in order to assist an operator to monitor input signals from
WRAI. Interactive 3D Virtual Reality and graphical information is achieved during simulation and experiment. The
system being developed can be useful for future work in developing a medical device for the treatment of stroke
patients or position teaching device for operators in industrial fields.
Keywords: 5 DOF Articulated Arm Robot, Wearable Arm Manipulator, SimMechanics, Virtual Reality
ISBN XXX-XXXXX-X-X
Seminar Nasional Tahunan Teknik Mesin (SNTTM) ke-8
Semarang, 11-14 Agustus 2009
interference problems between two nearby joints. The interface built from a modified USB game joystick.
difficulty in capturing hand kinematics is due to a MATLAB converted the signals automatically such that it
relatively large number of degrees of freedom can be accessed by using the Joys Stick Input block in
concentrated in a very small place[3] . An unexpected Simulink. Signals -1, 0 and 1 out from the Joys Stick Input
angular movement occured on another joint when one block represents 0, 2.5 and 5 Volt consecutively.
neighbor joint is rotated. An improved version of WRAI The joystick has five linear potentiometers that their
shown in Fig. 2 will be used for further analysis in this resistance can vary from 0 to 5KΩ causing voltage signal
paper. Joint numbering in Fig. 2 explains the relation with the range of 0 to 5 Volt. The saturation limit of each
between the joints of WRAI and AAM. Joint 1 on WRAI potentiometer rotation is shown in Fig. 3, except for the
controls the rotation of joint 1 on AAM, and so on. potentiometer number 2, it can rotate along 70 degrees to
yield the 0 to 5 Voltage range. The potentiometer number 2
for the joint 2 can accomodate 900 range of angular
movement.
Joint 2
Standard terminology that classifies angular movement
Joint 4 configuration of human’s right hand[4], and its relation to
Joint 3 AAM model are presented in table 1. WRAI, has an
angular movement limitation. Therefore, when the WRAI
Joint 1 is worn, the angular movement of human’s hand joint is
Joint 5 limited by the angular saturation limit of WRAI.
The values of angular movement limit for human’s
joint space (represented by WRAI), AAM model, and
New WRAI potentiometer (PotLim) are shown in table 2.
(a) Synchronization was needed and performed in Simulink
using gain blocks such that the angular movement range
Joint 5 for each of potentiometer and its related joint on the AAM
Grippers model can be as wide as possible within their maximum
Upper arm Wrist
Joint 4 allowable angular movement range.
ISBN XXX-XXXXX-X-X
Seminar Nasional Tahunan Teknik Mesin (SNTTM) ke-8
Semarang, 11-14 Agustus 2009
(1)
(a)
(a)
Upper arm Grippers
Wrist
Base
(b)
ISBN XXX-XXXXX-X-X
Seminar Nasional Tahunan Teknik Mesin (SNTTM) ke-8
Semarang, 11-14 Agustus 2009
ISBN XXX-XXXXX-X-X
Seminar Nasional Tahunan Teknik Mesin (SNTTM) ke-8
Semarang, 11-14 Agustus 2009
1 0 0 0
0 − 1 0 0
9
T =
10
0 0 − 1 − 11.25 (4)
0 0 0 1
1 0 0 35
0 1 0 100
10T =
0
0 0 1 0 (5)
0 0 0 1
cos θ i − sin θ i 0 ai −1
sin θ ⋅ cos α θ − sin α i −1 ⋅ d i
i −1 − cos i ⋅ cos α i −1 − sin α i −1
iT =
i i 1
(2)
sin θ i ⋅ sin α i −1 cos θ i ⋅ sin α i −1 cos α i −1 cos α i −1 ⋅ d i
0 0 0 1 SimMechanics
WRAI animation
ISBN XXX-XXXXX-X-X
Seminar Nasional Tahunan Teknik Mesin (SNTTM) ke-8
Semarang, 11-14 Agustus 2009
References
[1] Dvorak, J.L., Moving Wearable into the Mainstream ,
Motorola, USA, 2008.
[2] Aleotti, J., Position Teaching of a Robot Arm by
Demonstration with a Wearable Input Device,
Proceeding Paper of International Conference on
Intelligent Manipulation and Grasping, Genoa, Italy,
2004.
[3] Veber, M., Assessment of Finger joint Angles and
Trajectory Joint angle Calibration of Instrumental Glove, Journal of
Advances in Robotic Kinematic Springer,
Figure 13. Plot of upper arm Netherlands, 2006.
[4] Gupta, A., Design and Control of a Haptic Arm
5. Conclusions Exoskeleton, Master of Science Thesis, Mechanical
Working apparatus for simulating WRAI that can Engineering Dept., Rice University, Texas, 2004.
control an AAM model has been presented. Angular [5] Craig, J.J, Introduction Robotics Mechanics and
movement interference problem between can be Control 2nd, Addison-Wesley, USA, 1988.
eliminated. SimMechanics and Virtual Reality are [6] Karris, S.T., SimMechanics User’s Guide, Orchad
powerful tools to model the virtual machine. Kinematics Publication, USA, 2006.
problem related to transformation of manipulator can be [7] McGreevy, M.W., Virtual Reality and Planetary
handled by SimMechanics. It eliminated time consuming Exploration, Journal of Virtual Reality Applications
matrix computation. In short, the combination of and Explorations, Academic Press, USA, 2003.
SimMechanics and Virtual Reality are very helpful to an [8] Jose, L.P., Wearable Robots: Biomechatronic
operator for observing the behaviour of operator’s Exoskeletons, John Wiley & Sons, Spain, 2008.
command and machine response.
ISBN XXX-XXXXX-X-X