Improved teleoperation of dual robotic manipulators using vision based control

Date
2021-05
Authors
Akuffo, Opanin Kwadwo
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Abstract
The advancement of manual control of dual robotic manipulators has considerably lagged behind the progress of the single robotic manipulator. The widespread solutions for dual robotic manipulators consist mainly of joysticks and weable technology, which are often expensive and complex to operate or uncomfortable to use. In order to bridge the divide between single and dual manipulators and provide alternatives to currently existing solutions, this study proposes an improved way of teleoperating dual robotic manipulators through vision-based control. By leveleraging the Leap Motion Controller as the visual input sensor, the FRDM KL25Z board as the microcontroller unit, and Bluetooth as the transmission media, a simple real-time solution for visuallytwo 4DOF robotic manipulators was designed, prototyped, and tested. Experimental results showed that the proposed solution is accurate, relatively cheaper, easy to use and understand, and more than capable of competing with the currently existing solutions.
Description
Capstone Project submitted to the Department of Engineering, Ashesi University in partial fulfillment of the requirements for the award of Bachelor of Science degree in Computer Engineering, May 2021
Keywords
robotic arm
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DOI