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Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user int...

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Material Information

Title:
Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user interfaces
Physical Description:
Book
Language:
English
Creator:
Basnayaka, Punya
Publisher:
University of South Florida
Place of Publication:
Tampa, Fla
Publication Date:

Subjects

Subjects / Keywords:
PID
GUI
Rehabilitation robots
C++ functions
Accuracy
Repeatability
Dissertations, Academic -- Mechanical Engineering -- Masters -- USF   ( lcsh )
Genre:
non-fiction   ( marcgt )

Notes

Abstract:
ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.
Thesis:
Thesis (MSME)--University of South Florida, 2010.
Bibliography:
Includes bibliographical references.
System Details:
Mode of access: World Wide Web.
System Details:
System requirements: World Wide Web browser and PDF reader.
Statement of Responsibility:
by Punya Basnayaka.
General Note:
Title from PDF of title page.
General Note:
Document formatted into pages; contains X pages.

Record Information

Source Institution:
University of South Florida Library
Holding Location:
University of South Florida
Rights Management:
All applicable rights reserved by the source institution and holding location.
Resource Identifier:
usfldc doi - E14-SFE0004627
usfldc handle - e14.4627
System ID:
SFS0027942:00001


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0= 7nn24n n*0(9QMPM,,,+ n**(9M0,,,,,+ & n*6(90T,,,,,+ n*O(9*6,,,,,+ n*M(9*,,,,,,+ n n*Q(19*,,,,,,+ n*K(90M,,,,,+ n*T(0+ n!An!nnn% %%nn%%n!.#%nn!nn !n/$ n*P(0+ n!Annnn % %%nn%%n!.#%nn!nn !n/$ n*!(00,,,,,+ nnnn%n 'n'n!A .((*/I 8?nn!n!%nn!nn! A '.,4,/('.,4,/n*0+'.04,/('.04,/n**+'.*4,/('.*4,/n*6+'.64,/('.64,/n*O+'.O4,/('.O4,/n*M+'.M4,/('.M4,/n*Q+'.Q4,/('.Q4,/n*K+'.K4,/('.K4,/n*T+'.T4,/('.T4,/n*P+'.P4,/(,+ 8n%n'A !+!( n. $F 4 /+ 5+ .5(,+5GK+5LL/I .!4 70,$, 4'.54,//+ J%n.!/+(0+J$!. R9<(* /+ $!. R><(6, /+ $!. R<(, /+ $!. R9(6M /+ $!. R>(*Q, /+ $!. R(, /+ !nn%%n&! C!n 9HC./+>nn%nH%%.P,,,,4/+nH.,$Q4/+ % )0,-+ ),-('.,4,/+ GG' ),-(GG' ),-GGn!%+ )0-('.04,/+ GG' )0-(GG' )0-GGn!%+ )*-('.*4,/+ GG' )*-(GG' )*-GGn!%+ )6-('.64,/+ GG' )6-(GG' )6-GGn!%+ )O-('.O4,/+ GG' )O-(GG' )O-GGn!%+ )M-('.M4,/+

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0> 7nn24 )Q-('.Q4,/+ GG' )Q-(GG' )Q-GGn!%+ )K-('.K4,/+ GG' )K-(GG' )K-GGn!%+ )T-('.T4,/+ GG' )T-(GG' )T-GGn!%+ )P-('.P4,/+GG )P-( GG' )P-GGn!%+ >nnH9. UU 4'.,4,/4/+ >nnH9. U@U 4'.04,/4/+ >nnH9. U8U 4'.*4,/4/+ >nnH9. U>U 4'.64,/4/+ >nnH9. UU 4'.O4,/4/+ >nnH9. UU 4'.M4,/4/+ >nnH9. U;U 4'.Q4,/4/+ >nnH9. U;n 9>H%%.Q4QO4,4/+(n%%H UU 4/+ &&(n%%H U@U 4/+ (n%%H U8U 4/+ !!(n%%H U>U 4/+ nn(n%%H UU 4/+ (n%%H UU 4/+ (n%%H U;U 4/+ (n%%H U
PAGE 78

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PAGE 79

=2 7nn24n GG ')0-( GG'.P4,/GGn!%+ % !')T-+ !'),-('.,4,/1'),-+!')0-('.04,/1')0-+!')*-('.*4,/1')*-+!')6-('.64,/1')6-+!')O-('.O4,/1')O-+!')M-('.M4,/1')M-+!')Q-('.Q4,/1')Q-+!')K-('.P4,/1')P-+ % !'0)T-+ !'0),-(&.!'),-/+!'0)0-(&.!')0-/+!'0)*-(&.!')*-/+!'0)6-(&.!')6-/+!'0)O-(&.!')O-/+!'0)M-(&.!')M-/+!'0)Q-(&.!')Q-/+!'0)K-(&.!')K-/+GG !')K-( GG!')K-GGn!%+ % !',0)T-+ % !',0)T-+ % '!!0)T-+ !',0)K-(!'0)K-*+ '!!0)K-(M,,,+ .&.!'),-/2*M,,,/ I!',0),-(0K,,,,+'!!0),-(KM,,,+J n%n I !',0),-(*&.!'),-/,$6++'!!0),-(*&.!'),-/,$K+JGG !',0),-( GG!',0),-GGn!%+ GG '!!0),-( GG'!!0),-GGn!%+ .&.!')0-/2*M,,,/ I!',0)0-(0K,,,,+'!!0)0-(KM,,,+J n%n I !',0)0-(*&.!')0-/,$6++'!!0)0-(*&.!')0-/,$K+JGG !',0)0-( GG!',0)0-GGn!%+ GG '!!0)0-( GG'!!0)0-GGn!%+

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=3 7nn24n .&.!')*-/2*M,,,/ I!',0)*-(0K,,,,+'!!0)*-(KM,,,+J n%n I !',0)*-(*&.!')*-/,$6++'!!0)*-(*&.!')*-/,$K+JGG !',0)*-( GG!',0)*-GGn!%+ GG '!!0)*-( GG'!!0)*-GGn!%+ .&.!')6-/2*M,,,/ I!',0)6-(0K,,,,+'!!0)6-(KM,,,+J n%n I !',0)6-(*&.!')6-/,$6++'!!0)6-(*&.!')6-/,$K+JGG !',0)6-( GG!',0)6-GGn!%+ GG '!!0)6-( GG'!!0)6-GGn!%+ .&.!')O-/2*M,,,/ I!',0)O-(0K,,,,+'!!0)O-(KM,,,+J n%n I !',0)O-(*&.!')O-/,$6++'!!0)O-(*&.!')O-/,$K+JGG !',0)O-( GG!',0)O-GGn!%+ GG '!!0)O-( GG'!!0)O-GGn!%+ .&.!')M-/2*M,,,/ I!',0)M-(0K,,,,+'!!0)M-(KM,,,+J n%n I !',0)M-(*&.!')M-/,$6++'!!0)M-(*&.!')M-/,$K+JGG !',0)M-( GG!',0)M-GGn!%+ GG '!!0)M-( GG'!!0)M-GGn!%+ .&.!')Q-/2*M,,,/ I!',0)Q-(0K,,,,+'!!0)Q-(KM,,,+J n%n I !',0)Q-(*&.!')Q-/,$6++ '!!0)Q-(*&.!')Q-/,$K+JGG !',0)Q-( GG!',0)Q-GGn!%+ n

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PAGE 82

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PAGE 86

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PAGE 87

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PAGE 88

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PAGE 89

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PAGE 95

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PAGE 98

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0 7nn24n .5(,+5G6+5LL/I .C(,+CG6+CLL/I Dn .54C/(0.54C/+ J J .5(6+5GQ+5LL/I .C(6+CGQ+CLL/I Dn .54C/(0.5164C16/+JJDn (Dn D+D(Dn +D(D+J .!4 DANN /+ .5(,+5GD$"./+5LL/I .C(,+CGD$8%"./+CLL/I .!4 7O$* 4D.54C//+ J .!4 N /+ J .!4 NNN /+ .!4 DANN /+ .5(,+5GD$"./+5LL/I .C(,+CGD$8%"./+CLL/I .!4 7O$* 4D.54C//+ J .!4 N /+ J .!4 NNN /+ 8%%n6WPQWPnn!D& nn &n!n!nA .((*/I D$rnr3n.64K/+Dn $"%%.K46/+Dn (VD+Dn (DDn +!nD('.Dn $>n.//+D$rnr3n.64*/+D$rnr3n.64P/+ .5(,+5G6+5LL/I .C(,+CGK+CLL/I D.54C/(D.54C/+J .C(K+CGP+CLL/I D.54C/(D.54C1K/+JJDn $"%%.P46/+Dn (VD+Dn (DDn +!nD('.Dn $>n.//+J n%n I D$rnr3n.Q4P/+ .5(,+5GQ+5LL/I .C(,+CGK+CLL/I D.54C/(D.54C/+J .C(K+CGP+CLL/I D.54C/(D.54C1K/+J

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= 7nn24nJDn (VD+Dn (DDn +!nD('.Dn $>n.//+J .!4 DANN /+ .5(,+5GD$"./+5LL/I .C(,+CGD$8%"./+CLL/I .!4 7O$* 4D.54C//+ J .!4 N /+ J .!4 NNN /+ .!4 !nDA7NN 4!nD/+ !n8nnnn!nn A F?.040/4?.040/4n .040/4 n *.040/4 n .O4O/4n.O4O/+ .((0/I 8%%n9!#nn n n!nn4!nnnn!n nA .!((*/I ?$.O/+n (0+n $rnr3n.646/+n *(Vn +n *(.10/+n $"%%.640/+ .5(,+5G6+5LL/I n .54,/(0.546/+Jn (n *n + .5(,+5G6+5LL/I .C(,+CG6+CLL/I ?.54C/(0.C45/+J?.546/(n .54,/+Jn $"%%.O4O/+ .5(,+5GO+5LL/I .C(,+CGO+CLL/I n .54C/()-)5-)C-+JJn(?n +!F(H!n%.04n/+J n%n .!((6/I ?$.O/+n (0+n $rnr3n.646/+n *(Vn +n *(.10/+n $"%%.640/+ .5(,+5G6+5LL/I n .54,/(0.546/+Jn (n *n + .5(,+5G6+5LL/I .C(,+CG6+CLL/I ?.54C/(0.C45/+

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> 7nn24n J ?.546/(n .54,/+Jn $"%%.O4O/+ .5(,+5GO+5LL/I .C(,+CGO+CLL/I n .54C/()-)5-)C-+JJn(?n +$.O/+!F(H!n%.4n/+J n%n I .5(,+5GO+5LL/I .C(,+CGO+CLL/I n .54C/()-)5-)C-+JJ!F(H!n%.04n /+JJ n%n .((*/I J n%n .((6/I F0)T-40)T-430)T-4F0)T-40)T-430)T-4 ?nn )T-4?nF0)P-4?0)T-+ !&%n F4434F443+ !&%n ?nF4?nn+ nn%0. nF$F 4AA/+ .Zn%0/I GG 8 n + J .Zn%0$n.// In%0$n%n.?nn 4T4 UNU /+ n%0$n%n.?nF04T4 UNU /+ n%0$%n./+J?nn (.?nn /+?nF(.?nF0/+?nn(.?nn /+ .?nF((,/I nn@FAAr. nn&nn n! 4 r#9 4nn@F@AA#R4nn@FAAF% /+ ?nF(0+nF+nF( n. nF$F 4 /+ .nF4 70$N70$NN 4?nn4?nF/+ %n.nF/+Jnn%. $F 4AA/+ .Zn%/I GG 8 n + J .Zn%$n.// In%$n%n.04T4 UNU /+ n%$n%n.304T4 UNU /+

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7nn24n n%$n%n.F04T4 UNU /+ n%$n%n.04T4 UNU /+ n%$n%n.304T4 UNU /+ n%$n%n.F04T4 UNU /+ n%$%n./+JF(.F0/+(.0/+3(.30/+F(.F0/+(.0/+3(.30/+F !.Q40/+GG F( GGFGGn!%+ GG ( GGGGn!%+ GG 3( GG3GGn!%+ GG F( GGFGGn!%+ GG ( GGGGn!%+ GG 3( GG3GGn!%+ !.,4,/(F*,+ !.04,/(1O,+ !.*4,/(36,+ !.64,/(F0M,,+ !.O4,/(1P,,+ !.M4,/(306,,+!(,$,M+!F( !+!F(.?!/+!(,+ !.Q4,/+ J n%n .((O/I !F(H 0/+ !F(.?!/+ !(!F.Q4,/+ !F$rnr3n.Q40/+ J n%n I !F0)T-4!F*)T-4!F6)T-4!FO)T-4!FM)T-4!FQ)T-4 !F)T-4?nn )T-+!F$"%%.Q40/+nn%. $F 4AA/+ .Zn%/I GG 8 n + J .Zn%$n.// In%$n%n.!F04T4 UNU /+ n%$n%n.!F*4T4 UNU /+ n%$n%n.!F64T4 UNU /+ n%$n%n.!FO4T4 UNU /+ n%$n%n.!FM4T4 UNU /+ n%$n%n.!FQ4T4 UNU /+ n%$n%n.!F4T4 UNU /+ n%$n%n.?nn 4T4 UNU /+ n%$%n./+J!F.,4,/(.!F0/+GG !F0A GG!F.,4,/GG N +

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3;2 7n&n24n ?n ArnAA!AAAA8nC@FYnC@FQ+ ?n ArnAA!AAAA8nC@FYnC@FM+ ?n ArnAA!AAAA8nC@FYnC@FO+ ?n ArnAA!AAAA8nC@FYnC@F6+ ?n ArnAA!AAAA8nC@FYnC@F*+ ?n ArnAA!AAAA8nC@FYnC@F0O+ ?n ArnAA!AAAA8nC@FYnC@F06+ ?n ArnAA!AAAA8nC@FYnC@F0*+ ?n ArnAA!AAAA8nC@FYnC@F00+ ?n ArnAA!AAAA8nC@FYnC@F0,+ ?n ArnAA!AAAA8nC@FYnC@FP+ ?n ArnAA!AAAA8nC@FYnC@FT+ ?n ArnAA!AAAA8nC@FYnC@FK+ ?n A G2 n'n!!nn?&%n$ G2 rnAA8 n!n%AA8nY n+ E n !>nnnnn!!n G2 n'n!n!>nn 1! nnn!n!nn! $ G2 ?! %3n8 n. ?! / IrnAA8 n!n%AA8 nnnn Ynn( n rnAA8 n!n%AA8 nnnn. 0AA n! //+ 12 @F6(. n rnAA!AAAA; @F.//+ 12nC@F0O(. n rnAA!AAAA8nC@F.//+ 12nC@F06(. n rnAA!AAAA8nC@F.//+ 12&6(. n rnAA!AAAA@.//+ 12 @F*(. n rnAA!AAAA; @F.//+ 12nC@F0*(. n rnAA!AAAA8nC@F.//+ 12nC@F00(. n rnAA!AAAA8nC@F.//+ 12nC@F0,(. n rnAA!AAAA8nC@F.//+ 12nC@FP(. n rnAA!AAAA8nC@F.//+ 12nC@FT(. n rnAA!AAAA8nC@F.//+ 12nC@FK(. n rnAA!AAAA8nC@F.//+ 12 @F0(. n rnAA!AAAA; @F.//+ 12nC@FQ(. n rnAA!AAAA8nC@F.//+ 12nC@FM(. n rnAA!AAAA8nC@F.//+ 12nC@FO(. n rnAA!AAAA8nC@F.//+ 12nC@F6(. n rnAA!AAAA8nC@F.//+ 12nC@F*(. n rnAA!AAAA8nC@F.//+ 12nC@F0(. n rnAA!AAAA8nC@F.//+ 12&O(. n rnAA!AAAA@.//+ 12&*(. n rnAA!AAAA@.//+ 12&0(. n rnAA!AAAA@.//+ 12 @F612r n!./+ 12 @F*12r n!./+ 12 @F012r n!./+ 12r n!./+ @F6 12 @F6128%12!!. 12nC@F0O/+ 12 @F6128%12!!. 12nC@F06/+ 12 @F6128%12!!. 12&6/+ 12 @F612(rnAA>AA9.*6K4 *6*/+ 12 @F612"n( @F6 + 12 @F612r3n(rnAA>AAr3n.*TP4000/ + 12 @F612&!nF(P+ 12 @F612&r ( %n +

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3;3 7n&n24n 12nC@F0O12 nn( rnAA!AAAA nnAA@+ 12nC@F0O12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@F0O$@C!n ///+ 12nC@F0O12(rnAA>AA9.*,0 4**/+ 12nC@F0O12"n( nC@F0O + 12nC@F0O12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0O12&!nF(0+ 12nC@F0O12n=%r%n@C8%( n + 12nC@F0O128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F06$@C!n ///+ 12nC@F0612(rnAA>AA9.000 4**/+ 12nC@F0612"n( nC@F06 + 12nC@F0612r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0612&!nF(0+ 12nC@F0612n=%r%n@C8%( n + 12nC@F06128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. &6$@C!n ///+ 12&612@C!n( rnAA!AAAAnAA[+ 12&612(rnAA>AA9.**4** /+ 12&612"n( &6 + 12&612r3n(rnAA>AAr3n.QT4QP/+ 12&612&!nF(,+ 12&612n=%r%n@C8%( n + 12&6128%CL( n rnAA?nAA9.*6K4 06/+ 12 @F*12"n( @F* + 12 @F*12r3n(rnAA>AAr3n.*TP4*06/ + 12 @F*12&!nF(T+ 12 @F*12&r ( %n + 12 @F*12nF( ; n#n + nC@F0* 12nC@F0*12 nn( rnAA!AAAA nnAA@+ 12nC@F0*12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@F0*$@C!n ///+

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3;1 7n&n24n 12nC@F0*12(rnAA>AA9.*,0 40*K/+ 12nC@F0*12"n( nC@F0* + 12nC@F0*12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0*12&!nF(0+ 12nC@F0*12n=%r%n@C8%( n + 12nC@F0*128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F00$@C!n ///+ 12nC@F0012(rnAA>AA9.000 40*K/+ 12nC@F0012"n( nC@F00 + 12nC@F0012r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0012&!nF(0+ 12nC@F0012n=%r%n@C8%( n + 12nC@F00128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F0,$@C!n ///+ 12nC@F0,12(rnAA>AA9.**4 0*K/+ 12nC@F0,12"n( nC@F0, + 12nC@F0,12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0,12&!nF(0+ 12nC@F0,12n=%r%n@C8%( n + 12nC@F0,128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FP$@C!n ///+ 12nC@FP12(rnAA>AA9.*,04 0P/+ 12nC@FP12"n( nC@FP + 12nC@FP12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FP12&!nF(0+ 12nC@FP12n=%r%n@C8%( n + 12nC@FP128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FT$@C!n ///+ 12nC@FT12(rnAA>AA9.0004 0P/+ 12nC@FT12"n( nC@FT + 12nC@FT12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FT12&!nF(0+ 12nC@FT12n=%r%n@C8%( n +

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3;: 7n&n24n 12nC@FT128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FK$@C!n ///+ 12nC@FK12(rnAA>AA9.**4 0P/+ 12nC@FK12"n( nC@FK + 12nC@FK12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FK12&!nF(0+ 12nC@FK12n=%r%n@C8%( n + 12nC@FK128nCn!8n!L( n rnAA?nAA9.0*4 06/+ 12 @F012"n( @F0 + 12 @F012r3n(rnAA>AAr3n.*,Q466,/ + 12 @F012&!nF(K+ 12 @F012&r ( %n + 12 @F012nF( ; n9 + nC@FQ 12nC@FQ12 nn( rnAA!AAAA nnAA@+ 12nC@FQ12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@FQ$@C!n ///+ 12nC@FQ12(rnAA>AA9.00O4 *O0/+ 12nC@FQ12"n( nC@FQ + 12nC@FQ12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FQ12&!nF(0+ 12nC@FQ12n=%r%n@C8%( n + 12nC@FQ128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FM$@C!n ///+ 12nC@FM12(rnAA>AA9.*M4 *O0/+ 12nC@FM12"n( nC@FM + 12nC@FM12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FM12&!nF(0+ 12nC@FM12n=%r%n@C8%( n + 12nC@FM128nCn!8n!L( n rnAA?n
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3;; 7n&n24n 12nC@FO12 nn( rnAA!AAAA nnAA@+ 12nC@FO12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@FO$@C!n ///+ 12nC@FO12(rnAA>AA9.00O4 0*K/+ 12nC@FO12"n( nC@FO + 12nC@FO12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FO12&!nF(0+ 12nC@FO12n=%r%n@C8%( n + 12nC@FO128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F6$@C!n ///+ 12nC@F612(rnAA>AA9.*M4 0*K/+ 12nC@F612"n( nC@F6 + 12nC@F612r3n(rnAA>AAr3n.QT4QP/+ 12nC@F612&!nF(0+ 12nC@F612n=%r%n@C8%( n + 12nC@F6128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F*$@C!n ///+ 12nC@F*12(rnAA>AA9.00O4 0P/+ 12nC@F*12"n( nC@F* + 12nC@F*12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F*12&!nF(0+ 12nC@F*12n=%r%n@C8%( n + 12nC@F*128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F0$@C!n ///+ 12nC@F012(rnAA>AA9.*M4 0P/+ 12nC@F012"n( nC@F0 + 12nC@F012r3n(rnAA>AAr3n.QT4QP/+ 12nC@F012&!nF(0+ 12nC@F012n=%r%n@C8%( n + 12nC@F0128nCn!8n!L( n rnAA?nAA. r rn 40,4rnAA>AAr%nAA@%!4rnAA> AA; AA94 H GrnAA@n2.,///+ n

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3;< 7n&n24n 12&O12(rnAA>AA9.6M046 MK/+ 12&O12"n( &O + 12&O12r3n(rnAA>AAr3n.KM46,/+ 12&O12&!nF(M+ 12&O12nF( + 12&O12n=%r%n@C8%( n + 12&O128%CL( n rnAA?nAA. r rn 40,4rnAA>AAr%nAA@%!4rnAA> AA; AA94 H GrnAA@n2.,///+ 12&*12(rnAA>AA9.0*46M K/+ 12&*12"n( &* + 12&*12r3n(rnAA>AAr3n.KT46,/+ 12&*12&!nF(Q+ 12&*12nF( @C + 12&*12n=%r%n@C8%( n + &0 12&012(. n rnAA>AA. r rn 40,4rnAA>AAr%nAA@%!4rnAA> AA; AA94 H GrnAA@n2.,///+ 12&012(rnAA>AA9.OM046 MK/+ 12&012"n( &0 + 12&012r3n(rnAA>AAr3n.KM46,/+ 12&012&!nF(M+ 12&012nF( F + 12&012n=%r%n@C8%( n + 12&0128%CL( n rnAA?nn(rnAA>AAr3n.Q40 6/+ 12r%n!n(rnAA!AAAAr%n !nAA+ 128%nr3n(rnAA>AAr3n.M6P4O,0/+ 128%@F( %n + 128%12!!. 12 @F6/+ 128%12!!. 12 @F*/+ 128%12!!. 12 @F0/+ 128%12!!. 12&O/+ 128%12!!. 12&*/+ 128%12!!. 12&0/+ 12F3n@F( %n + 12"n( 0 + 12nF( rnn + 12!L( n rnAA?n
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3;0 7n&n24nnn 12nC@F012%r%n(%r%nAA%+ 12nC@F012% nn12@!nr3n(*+ 12nC@F012% nn12@!n8%(8%AAn! + 12nC@FM12&%n!( %n + =H>W)*-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F012%r%n(%r%nAAr!!+ 12nC@FM12&%n!( n + =H>W)*-(,+ &nC + n n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)*-(,+ 12nC@F012%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F*H8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@F*128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F*12%r%n(%r%nAA%+ 12nC@F*12% nn12@!nr3n(*+ 12nC@F*12% nn12@!n8%(8%AAn! + 12nC@FQ12&%n!( %n + =H>W),-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F*12%r%n(%r%nAAr!!+ 12nC@FQ12&%n!( n + =H>W),-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W),-(,+ 12nC@F*12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F6H8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@F6128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F612%r%n(%r%nAA%+ 12nC@F612% nn12@!nr3n(*+ 12nC@F612% nn12@!n8%(8%AAn! + 12nC@FO12&%n!( %n + =H>W)0-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F612%r%n(%r%nAAr!!+ 12nC@FO12&%n!( n + =H>W)0-(,+ &nC +

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3;= 7n&n24nn n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)0-(,+ 12nC@F612%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FOH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FO128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FO12%r%n(%r%nAA%+ 12nC@FO12% nn12@!nr3n(*+ 12nC@FO12% nn12@!n8%(8%AAn! + 12nC@F612&%n!( %n + =H>W)0-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FO12%r%n(%r%nAAr!!+ 12nC@F612&%n!( n + =H>W)0-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)0-(,+ 12nC@FO12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FMH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FM128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FM12%r%n(%r%nAA%+ 12nC@FM12% nn12@!nr3n(*+ 12nC@FM12% nn12@!n8%(8%AAn! + 12nC@F012&%n!( %n + =H>W)*-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FM12%r%n(%r%nAAr!!+ 12nC@F012&%n!( n + =H>W)*-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)*-(,+ 12nC@FM12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FQH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FQ128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FQ12%r%n(%r%nAA%+ 12nC@FQ12% nn12@!nr3n(*+

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3;> 7n&n24nnn 12nC@F*12&%n!( %n + =H>W),-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FQ12%r%n(%r%nAAr!!+ 12nC@F*12&%n!( n + =H>W),-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W),-(,+ 12nC@FQ12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FKH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/In .nC@FK128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FK12%r%n(%r%nAA%+ 12nC@FK12% nn12@!nr3n(*+ 12nC@FK12% nn12@!n8%(8%AAn! + 12nC@FP12&%n!( %n + =H>W)M-(,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FK12%r%n(%r%nAAr!!+ 12nC@FP12&%n!( n + =H>W)M-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)M-(,+ 12nC@FK12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FTH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FT128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FT12%r%n(%r%nAA%+ 12nC@FT12% nn12@!nr3n(*+ 12nC@FT12% nn12@!n8%(8%AAn! + 12nC@F0012&%n!( %n + =H>W)O-(,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FT12%r%n(%r%nAAr!!+ 12nC@F0012&%n!( n + =H>W)O-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)O-(,+

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3; 7n&n24nnn 12nC@FT12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FPH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FP128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FP12%r%n(%r%nAA%+ 12nC@FP12% nn12@!nr3n(*+ 12nC@FP12% nn12@!n8%(8%AAn! + 12nC@FK12&%n!( %n + =H>W)M-(1,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FP12%r%n(%r%nAAr!!+ 12nC@FK12&%n!( n + =H>W)M-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)M-(,+ 12nC@FP12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F0,H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F0,128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0,12%r%n(%r%nAA%+ 12nC@F0,12% nn12@!nr3n(*+ 12nC@F0,12% nn12@!n8%(8%AAn !+ 12nC@F0*12&%n!( %n + =H>W)6-(1,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0,12%r%n(%r%nAAr!!+ 12nC@F0*12&%n!( n + =H>W)6-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)6-(,+ 12nC@F0,12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F00H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F00128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0012%r%n(%r%nAA%+ 12nC@F0012% nn12@!nr3n(*+ 12nC@F0012% nn12@!n8%(8%AAn !+ 12nC@FT12&%n!( %n + =H>W)O-(1,$,,6+ &nC +

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3<2 7n&n24nnn n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0012%r%n(%r%nAAr!!+ 12nC@FT12&%n!( n + =H>W)O-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)O-(,+ 12nC@F0012%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F0*H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F0*128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0*12%r%n(%r%nAA%+ 12nC@F0*12% nn12@!nr3n(*+ 12nC@F0*12% nn12@!n8%(8%AAn !+ 12nC@F0,12&%n!( %n + =H>W)6-(,$,,6+ &nC + n n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0*12%r%n(%r%nAAr!!+ 12nC@F0,12&%n!( n + =H>W)6-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)6-(,+ 12nC@F0*12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!&6H8%C.rnAA#&5nYn!n 4rnAA?nYn/I =H>W),-(,+=H>W)0-(,+=H>W)*-(,+=H>W)6-(,+=H>W)O-(,+=H>W)M-(,+=H>W)Q-(,+?nn (0+ 12nC@F012&%n!( n + 12nC@F*12&%n!( n + 12nC@F612&%n!( n + 12nC@FO12&%n!( n + 12nC@FM12&%n!( n + 12nC@FQ12&%n!( n + 12nC@FK12&%n!( n + 12nC@FT12&%n!( n + 12nC@FP12&%n!( n + 12nC@F0,12&%n!( n + 12nC@F0012&%n!( n + 12nC@F0*12&%n!( n + 12nC@F0612&%n!( n +

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3<3 7n&n24nnn 12nC@F0O12&%n!( n + 12nC@F0128nCn!( %n + 12nC@F*128nCn!( %n + 12nC@F6128nCn!( %n + 12nC@FO128nCn!( %n + 12nC@FM128nCn!( %n + 12nC@FQ128nCn!( %n + 12nC@FK128nCn!( %n + 12nC@FT128nCn!( %n + 12nC@FP128nCn!( %n + 12nC@F0,128nCn!( %n + 12nC@F00128nCn!( %n + 12nC@F0*128nCn!( %n + 12nC@F06128nCn!( %n + 12nC@F0O128nCn!( %n + !+!( n. $F 4 /+ .!4 70$N70$N70$N70$6N70$6N70$6N70$N70$N N 4=H>W),-4=H>W)0-4= H>W)*-4=H>W)6-4=H>W)O-4=H>W)M-4=H>W)Q-4? nn /+ %n.!/+J ?n ArnAA=!nC@F06H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F06128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0612%r%n(%r%nAA%+ 12nC@F0612% nn12@!nr3n(*+ 12nC@F0612% nn12@!n8%(8%AAn !+ 12nC@F0O12&%n!( %n + =H>W)Q-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0612%r%n(%r%nAAr!!+ 12nC@F0O12&%n!( n + =H>W)Q-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)Q-(,+ 12nC@F0*12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F0OH8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F0O128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0O12%r%n(%r%nAA%+ 12nC@F0O12% nn12@!nr3n(*+ 12nC@F0O12% nn12@!n8%(8%AAn !+ 12nC@F0612&%n!( %n + =H>W)Q-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0O12%r%n(%r%nAAr!!+ 12nC@F0612&%n!( n + =H>W)Q-(,+n

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Basnayaka, Punya.
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Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user interfaces
h [electronic resource] /
by Punya Basnayaka.
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[Tampa, Fla] :
b University of South Florida,
2010.
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Thesis (MSME)--University of South Florida, 2010.
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Text (Electronic thesis) in PDF format.
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ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.
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Advisor: Rajiv Dubey, Ph.D.
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PID
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Rehabilitation robots
C++ functions
Accuracy
Repeatability
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Dissertations, Academic
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x Mechanical Engineering
Masters.
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t USF Electronic Theses and Dissertations.
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u http://digital.lib.usf.edu/?e14.4627