Journal of Electrical Engineering and Computer Science (JEECS)
SIMULATION OF A ROBOT ARM THAT MIMICS THE ANGULAR MOVEMENT AND CONTROL OF AN AUTHENTIC HUMAN ARM
(This article belongs to Vol - 01, Issue - 03)
This paper contains the research report of the simulation of robot arm of model ISO18E using simulink software to achieve reproducing a robot arm that will mimic the functionality and control of an authentic human arm at different joints. The challenges were found to be the ability to determine the basic characters of the robot arm including evaluating the positioning in simulation and the model cost. The method used to get the results was simulation of a modeled robot arm ISO18E in a software environment (simulink software). In the research the modeled robot arm, five joints were simulated referencing the authentic human arm and its joints. The human joints taken into considerations were the shoulder, elbow, wrist, metacarpophalangeal and the interphalangeal joints. The results of controlling effects of the simulated robot arm were compared with the prototype of real human arm and from the comparison it was found that the robot arm was able to be simulated to have same angular rotation per instant time at each joint as the real human arm. This research will proffer a reasonable assistance to the armless and deformed community to accomplish a task without stress and constraints in gripping, manipulating and controlling with the aid of this robot arm.