Design, Implementation, Interfacing, and Control of Internet of Robot Things for Assisting Robot

Abstract

Robotic arm plays a great role in assisting the human hand in current life. The robotic arm can be useful in many fields: such as industry, medicine and chemistry that demand more power, higher speed, and accuracy that cannot be provided by the human hands. This project involves the design and implementation of two degrees of freedom (DOF’s) assistant robot for aiding humans in the medical recovery of human upper left limb motion. The contribution in this work involves two parts: the first one is the use of microcontroller (Arduino card) for interfacing and processing the designed reading and writing circuits based on a designed MATLAB fuzzy PD controller and special Arduino Simulink library. The second contribution is adding a system's spring to the first link to rise the motion stability and increase the required torque in the first joint after the human hand attached to the robot links. The results illustrate the power of these circuits design and the error reduction occurred after supporting the system’s spring. An Internet of robotic thing (IoRT) model is designed, and then the robot arm is connected using our designed internet – based control system using IoT protocols for communication.