Simulation and Implementation of Real-Time Vision-Based Control System for 2-DoF Robotic Arm Using PID with Hardware-in-the-Loop

Mohammad Al-Shabi^*

Department of Mechatronics Engineering, Philadelphia University, Philadelphia, USA.

DOI: 10.4236/ica.2015.62015                

Abstract

Microsoft Kinect sensor has shown the research community that it's more than just an interactive gaming device, due to its multi-functional abilities and high reliability. In this work, online HIL (Hardware-in-the-Loop) experimental data are used to apply human motion imitation to a 2-degree of freedom Lego Mind storm NXT robotic arm. A model simulation of the dc motor used in this experiment is also present in this paper. The acquired input data from the Kinect sensor are processed in a closed loop PID controller with feedback from motors encoders. The applied algorithms solve the overlapping input problem, conducting a simultaneous control of both shoulder and elbow joints, and solving the overlapping input problem as well. The work in this paper is presented as a prototype to assure the applicability of the algorithms, for further development.

Keywords

HIL, NXT, Kinect, PID, Real-Time, Image Processing, Imitation, 2-DoF

Conflicts of Interest

The authors declare no conflicts of interest.

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