This capstone project presents the culmination of my BSc. Computer Engineering degree from Ashesi University.
An in-depth report and documentation containing a high level diagram, schematics on how to connect, activity diagrams and a bill of materials can be found in the root directory titled Report Documentation
A demo of this project can be found here
The advancement of manual control of dual robotic manipulators has considerably lagged behind the progress of the single robotic manipulator. The widespread solutions for dual robotic manipulators consist mainly of joysticks and wearable technology, which are often expensive and complex to operate or uncomfortable to use. In order to bridge the divide between single and dual manipulators and provide alternatives to currently existing solutions, this study proposes an improved way of teleoperating dual robotic manipulators through vision-based control. By leveraging the Leap Motion Controller as the visual input sensor, the FRDM KL25Z board as the microcontroller unit, and Bluetooth as the transmission media, a simple real-time solution for visually controlling two 4-DOF robotic manipulators was designed, prototyped, and tested. Experimental results showed that the proposed solution is accurate, relatively cheaper, easy to use and understand, and more than capable of competing with the currently existing solutions.
To create a single system capable of interfacing and remotely connecting the Leap Motion Controller, the FRDMKL25Z microcontroller, and the dual robotic manipulators, software for the two main subsystems have to be developed:
- The operator's subsystem software component (Developed in Python using Leap Motion SDK)
- The robotic manipulators' subsystem software component (Developed in C using MCUXpresso IDE)