Percentage of relative error of the servomotor

LIST OF TABLES TABLE TITLE PAGE 3.1 Cost and budget of material 28 4.1 Average servomotor angles compared to programmed angles 43 4.2 Percentage of relative error of the servomotor from 0 ̊ to 180 ̊ 44 4.3 Average servomotor angles compared to programmed angles 46

4.4 Percentage of relative error of the servomotor

from 0 ̊ to 180 ̊ 47 4.5 Waist of the robotic arm’s servomotor angles before introduced the calibrated value 50 4.6 Waist of th e robotic arm’s servomotor angles after introduced the calibrated value 52 4.7 Average and standard deviation for the of the samples 54 LIST OF FIGURES FIGURE TITLE PAGE 1.1 ABB Teach Pendent 2 1.2 KUKA Teach Pendent 2 1.3 FARA Teach Pendent 2 2.1 Black glove as controller 6 3.1 Leap Motion controller’s settings 13 3.2 Arduino software 14 3.3 Command prompt to install file 14 3.4 Visual Studio for programming 15 3.5 JSON Viewer 15 3.6 Program execution 16 3.7 Arduino Uno Rev3 board microcontroller 16 3.8 Sample of robotic arm from the Robotic Laboratory 17 3.9 Servomotor with a protractor scaled paper 20 3.10 Coordination data of a palm 21 3.11 The Cartesian coordinate of the Leap Motion controller 21 3.12 Dummy hand made of layer of papers 23 3.13 Dummy hand on Leap Motion Visualizer 24 3.14 Coordinate target is at Quadrant 1 25 3.15 “X” Mark on the graph paper as the center point 25 3.16 LED Indicator 27 4.1 Robotic arm for pick and place drawing 29 4.2 Human representation parts on the robotic arm 30 4.3 Movement of each part of the robotic arm 31 4.4 Steer end-effector to x, y target position 31 4.5 Hand move forward 35 4.6 Hand move backward 35 4.7 Gripper open full 36 4.8 Gripper close full 36 4.9 Gripper open small 37 4.10 Hand move right 37 4.11 Hand move left 38 4.12 Wrist supination 90 ̊ 39 4.13 Wrist pronation 90 ̊ 39 4.14 Wrist extension 90 ̊ 39 4.15 Wrist flexion 90 ̊ 40 4.16 Shoulder and elbow at initial position 41 4.17 Wire connection on Arduino Uno 41 4.18 Servomotor error angles from 0 ̊ to 180 ̊ 48 4.19 Servomotor at 90 ̊ before include calibrated value 48 4.20 Servomotor at 90 ̊ after included calibrated value 49 4.21 Servomotor error angles from -200mm to 200mm 53 4.22 Position of the samples 55 4.23 Completion of Robotic Arm Prototype 56 4.25 Initial position of the Robotic Arm 58 LIST OF SYMBOLS x - coordinate point of end effector of x-axis y - coordinate point of end effector of y-axis z - coordinate point of end effector of z-axis θ i - the angle from X i -1 to X i measured about Z i LIST OF APPENDICES APPENDIX TITLE PAGE A Survey 65 B Project and Robotic Arm Prototype Flow Chart 67 C Gantt Chart 69 D SolidWorks Base Drawing 70 E SolidWorks Base Cover Drawing 71 F SolidWorks Middle Drawing 72 G Program Controlling Robotic Arm in JavaScript Language 73 H Summary of the Survey 77 CHAPTER 1 INTRODUCTION

1.1 Motivation