Desenvolvimento de um sistema de controle de um braço robótico de cinco eixos

Abstract

This project describes the development of a glove to control a didactic robotic arm located at the Laboratory of Automation and Inteligent Systems for Manufacturing at Universidade Tecnológica Federal do Paraná, campus Curitiba, and a new communication interface between a computer and this robot, in order to make its controlling simpler. The new communication interface was developed using Labview, adding new functions to meet the needs of the users of this laboratory, such as the possibility of saving and loading programs with sequences of commands that will be transmitted to the robot and the possibility of editing specific lines of a program. The main components of the glove are two accelerometers and a PIC microcontroller. For its development it was necessary to program the microcontroller in C language and use knowledge of inverse kinematic. To make the robot movement easier using the glove it was necessary to include a small keyboard (named glove keyboard), that defines which joints will be moved and define the movement sensibility. A new controller was created (named controller keyboard) that, together with the glove and the glove keyboard, replaces the original teaching box of the robotic arm. The controller keyboard’s purpose is to save positions and run pre-defined programs stored in the robot. To validate the developed prototypes, practical tests were executed, communicating them with the robotic arm. The robot was moved using the glove, aided by the glove keyboard; the controller keyboard executed the programmed functions properly; and the new communication interface between the computer and the robot also met the desired objectives. The results obtained were considered satisfactory by the members of the team, because they met the general objective.