Teleoperated 4-DOF Robotic Arm
Built a fully functional 4-DOF robotic arm controlled via a puppet model with potentiometers. Enabled intuitive teleoperation, pose recording, and real-time mirror functionality—simulating industrial pick-and-place applications.
Project Overview
This project features a teleoperated robotic arm system where a custom-built puppet model is used to intuitively control the movement of a 4-DOF robotic arm. Designed for real-time mirroring, it allows users to teach positions and automate sequences, making it ideal for education and prototyping.
Key Features
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Puppet-Based Control Interface:
A physical puppet equipped with potentiometers was used to manipulate the arm joints in real-time, enabling intuitive and direct control. -
Programmable Positioning:
Implemented memory functionality to store and retrieve up to 10 unique positions, allowing the arm to cycle through pre-taught motions. -
Mirror Mode Operation:
Enabled live synchronization between the puppet and robotic arm, providing immediate feedback and realistic joint replication.
Technical Breakdown
1. Hardware Architecture
- Designed and assembled a 4-DOF robotic arm using servo motors.
- Created a puppet rig with one potentiometer per joint, mimicking real-world articulation.
2. Control Logic
- Used analog-to-digital conversion to read voltages from the puppet model.
- Translated voltage inputs into precise joint angles and sent them to servos via microcontroller logic.
3. Pose Recording System
- Added push-button controls to record and cycle through multiple saved configurations.
- Created a seamless interface for position teaching and repetitive automation tasks.
Applications
- Educational Labs: Demonstrates kinematics and control in an interactive format.
- Teleoperation Research: Forms a foundation for exploring remote and assistive manipulation.
- Industrial Prototyping: Simulates task automation for low-cost experimentation.