Authors
Jinho Kim, Kevin Chang, Brian Schwarz, Andrew S. Lee, S. Andrew Gadsden,
Mohammad Al-Shabi
Corresponding Author
Jinho Kim
Available Online 1 September 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.2.7
Keywords
Three-link robotic manipulator, RRR robot manipulator, Motion capture,
PD controller.
Abstract
This paper presents the dynamic modeling and motion control of a three-link
rotary robotic manipulator, also known as an RRR robot. The Kinect motion
capture system by Microsoft is used in conjunction with the manipulator.
A camera is used to capture the motion of a user’s arm and tracks certain
angles made by parts of the arm. We consider a pinhole camera model to
generate reference angles in our simulations. These desired angles are
fed into the controller and are used by the RRR robot in an effort to copy
the movement of the user. A proportionalderivative (PD) controller is developed
and applied to the manipulator for improved trajectory tracking. The RRR
robot is dynamically modeled and the results of the proposed control strategy
demonstrate good trajectory following. Researchers can implement this system
as a relatively inexpensive starting point for their activities.
Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/)