Scalar Product in Acquiring Angle for Mimicking Robotic Elbow using Two Tri-Axial Accelerometers
Charlene A. Alcira1, Mayraquel G. Balla2, Nanette A. Burgos3, John Paul O. Bilon4, Mark Anthony M. Baris5, Roselito E. Tolentino6
1Charlene A. Alcirais a graduate of Polytechnic University of the Philippines Sta. Rosa Campus.
2Mayraquel G. Ballais a graduate of Polytechnic University of the Philippines Sta. Rosa Campus.
3Nanette A. Burgos is a graduate of Polytechnic University of the Philippines Sta. Rosa Campus.
4John Paul O. Bilonis a graduate of Polytechnic University of the Philippines Sta. Rosa Campus. Mark Anthony
5M. Barisis a graduate of Polytechnic University of the Philippines Sta. Rosa Campus.
6Roselito E. Tolentino is with Polytechnic University of the Philippines – Santa Rosa Campus and De La Salle University – Dasmarinas as part time Instructor.
Manuscript received on February 03, 2016. | Revised Manuscript received on February 09, 2016. | Manuscript published on February 15, 2016. | PP: 7-12 | Volume-4 Issue-3, February 2016. | Retrieval Number: C0970024316/2016©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Most of the robotic arm is controlled using accelerometer by capturing different gestures and postures wherein the movement of the robotic arm is only limited on the given gestures, which doesn’t mimic the human arm correctly. This paper presents a method to acquire angle in mimicking robotic elbow using two low cost and small tri-axial accelerometers. These accelerometers are attached to the upper arm and forearm of the user. To find out the angular position of the elbow joint, scalar product is applied in the computation. The communication between human hand and robotic arm has been established using Arduino microcontroller. The result is that the robotic arm’s movement is synchronous with human arm’s movement. The system has been developed in Arduino IDE platform and Lab VIEW Robotics. In conclusion, the application of scalar product is effective in acquiring the value of user’s elbow angle.
Keywords: Accelerometers, Elbow Angle, Robotic Elbow, Scalar Product.