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https://epub.vgu.edu.vn/handle/dlibvgu/546| Title: | Designing and controlling humanoid robotic arm | Authors: | Nguyen Vu Hoi | Keywords: | Humanoid robot;Robotic arm;C++ | Issue Date: | 2015 | Publisher: | Vietnamese-German University | Abstract: | Because recent humanoid robotics in Vietnam only involves buying a whole robot and programming it with many of the manufacturer's constraints, this thesis studies a way to build a robotic arm from scratch to understand it in a. deeper level. The work includes theoretical studying about forward and revurse kinematics of the arm, mechanically designing a simple robot arm, building initial controlling functions, simulating the arm and testing the methods in real life. The forward kinematics was calculated using extremely basic B-H parame- ters, with the purpose to track the positions of nodes (servos). The method is simple but very necessary for any robotic project. Besides, a reverse kine- matics solution has been proposed to calculate the angles of servos for the end-effector to reach a certain destination. The method is to divide the arm to each 2 (or loss) links and solve for each sub-problem. This way, any ex- tension to the arm is possible and solvable. Initial controlling functions are written in C++ language, based on the principles of Robotics Operating Sys- tem (ROS). Through doing this, I learned more about the language, being able to build a communicating system on a quite low level, without having to reinvent the wheel. The functions are well-commented, making it easier for other contributors to continue the project for our university. Next, the arm is simulated on computer using Gazebo software. Lastly, the arm is tested with the simple designed hardware, physically controlled by an Ar- duino Mega 2560 and powered by a current provider. This first prototype of the arm was written in such manner that further development should be as easy as possible. Therefore, the software is simple but stable, while the hardware is just enough to test. The arm reached its goals and is potentially promising. |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/546 | Rights: | Attribution-NonCommercial 4.0 International |
| Appears in Collections: | Electrical Engineering and Information Technology (EEIT) |
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| Designing and controlling humanoid robotic arm.pdf | 233.83 MB | Adobe PDF |
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