Record Details

Computer controlled robotic arm

DSpace at IIT Bombay

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Field Value
 
Title Computer controlled robotic arm
 
Creator AHUJA, N
SREEDARAN, R
BANERJEE, US
DARBHE, VA
MAPARA, TN
MATKAR, AD
NIRMAL, RK
BALAGOPALAN, S
 
Description The aim of this work is to develop an automated mechanical arm, say to serve a glass of water to an immobile patient, using a remote pressing operation. Control of the arm has been designed with limiting switches & a set of potentiometers & DC motors. Movements of different arm segments, their range & extent of movement has been pre-set with a provision for manual operations also. The robotic arm that is being developed is an inexpensive one, made out of lightweight mild grade aluminium. The arm has 3 degrees of freedom can reach and grab any object (up to 500 grams) within a span of 0.3 meters. The motor shafts are mechanically coupled to the respective potentiometers. The analog voltages obtained from the sensors/potentiometers are fed into the programmable IC The inbuilt ADC converts these voltages to digital values. The data from the operator fed into the chip is now compared with stored reference values and appropriate signals are sent to motor driver IC's which actuate the motors to bring the claw to the specified coordinates and grip/release the object (glass). The software to control the operation is written in a high level language converted into a Hex code and burnt onto the EPROM of the PIC The computer is present for monitoring console operations.
 
Publisher IEEE COMPUTER SOC
 
Date 2011-10-27T19:59:03Z
2011-12-15T09:12:47Z
2011-10-27T19:59:03Z
2011-12-15T09:12:47Z
2003
 
Type Proceedings Paper
 
Identifier CBMS 2003: 16TH IEEE SYMPOSIUM ON COMPUTER-BASED MEDICAL SYSTEMS, PROCEEDINGS,361-366
0-7695-1901-6
1063-7125
http://dspace.library.iitb.ac.in/xmlui/handle/10054/16403
http://hdl.handle.net/100/2896
 
Source 16th IEEE Symposium on Computer-Based Medical Systems,NEW YORK, NY,JUN 26-27, 2003
 
Language English