i am a 2nd year student from punjab, india working on robotic arm , i have implemented speech algorithm to control my robotic arm through speech it is follwing quite nicely , now i am looking to mimic my hands movement to my robotic same , i am having servo controlled robotic arm 5 DOF, the arm is connected servo controller communicating serially with my pc , now i am planning to use arduino which will also connect to my pc serially , i want to know how i can mimic movement , basically initially i want to start with mimicking just one movement of the portion between my elbow and hand , it will be very nice if any can help me with this , i will be very thankfull to members
a) Measure the absolute position in 3D of the hand, i.e. read x,y,z coordinates, and then get the robot are to move its hand there by whatever combination of shoulder/elbow/wrist angles will do.
b) Try to more directly "copy" what the human arm is doing... i.e. get the hand to the same "x,y,z" position by having the robot's shoulder/elbow/wrist angles the same as the human's. Of course, this requires a robot arm that is a copy, in dimensions and movement potential, of the human arm.
The sensors to use the first approach are a lot easier to make than the sensors for the second! A joystick on a column which can be pulled up/ pushed down would be a simple (if somewhat crude!) answer.