The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Remote Control of Movable Robot Arm using Gyro Sensor and Flex Sensor

자이로센서와 플렉스 센서를 이용한 이동형 로봇팔 원격 제어

  • 장재석 (남서울대학교 전자공학과) ;
  • 김민수 (남서울대학교 전자공학과) ;
  • 김성진 (남서울대학교 전자공학과) ;
  • 이철근 (남서울대학교 전자공학과) ;
  • 박형근 (남서울대학교 전자공학과)
  • Received : 2021.10.18
  • Accepted : 2021.12.17
  • Published : 2021.12.31
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Abstract

Robots that can actually help people a lot by dealing with dangerous tasks that are difficult for people to do, such as disaster situations, lifesaving, handling dangerous goods, and reconnaissance of dangerous areas, continue to become an issue. Therefore, in this paper, we intend to implement a mobile robot arm that can implement a human motion will on the robot arm to enable active response according to the situation and control the vehicle according to hand movements to give mobility. A controller is manufactured using a flex sensor and agyro sensor, and the roll and pitch values of the two gyro sensors are adjusted to control the angle of the robot arm and specify the vehicle direction. In addition, by designating the levels of the three flex sensors, the motor is operated according to hand movements, and a robot arm is implemented so that objects can be picked up and moved.

재난상황이나 인명 구조, 위험물 처리와 위험지역 정찰 등 사람들이 하기 어려운 위험작업을 대신 처리해 실질적으로 많은 도움을 줄 수 있는 로봇들이 지속적으로 이슈가 되고 있다. 따라서 본 논문에서는 사람의 모션 의지를 로봇팔에 구현하여 상황에 따른 능동적인 대응이 가능하도록 한다. 또한 손동작에 따라 차량을 제어하여 이동성을 부여할 수 있는 이동형 로봇팔을 구현하고자 한다. 플렉스 센서와 자이로센서를 활용하여 컨트롤러를 제작하고 자이로센서 2개의 Roll과 Pitch 값을 조절하여 로봇팔의 각도를 제어하며 차량의 방향을 지정한다. 또한 플렉스 센서 3개의 레벨을 지정함으로써 손동작에 따라 모터가 동작되며 물체를 집고 이동할 수 있도록 로봇팔을 구현하였다.

Keywords

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