Vývoj robotického ramene ovládaného gesty ruky

Abstract

The subject of this diploma thesis is the comprehensive design and physical realization of a three-axis articulated robotic arm, whose primary control mode is contactless teleoperation by means of hand tracking. In the introductory part, optical hand sensing by a monocular camera was selected as the control method, together with serial kinematics matching the human arm. Subsequently, a kinematic-dynamic analysis of the loaded arm was compiled and a mathematical model was derived using Lagrange equations of the second kind. The validation of the model and the design of the control law based on the computed torque control (CTC) method were carried out in the MATLAB Simulink environment, while Akima interpolation was applied as the source of the desired trajectory to eliminate dynamic shocks. The hardware part includes the mechanical design of the manipulator, the design of a two-layer printed circuit board with integrated protective circuits, and a system of relay brakes suppressing the spontaneous fall of the arm in the event of a power loss. Control is provided by the firmware of the Raspberry Pi Pico 2 WH microcontroller, which handles the homing sequence, the generation of stepper pulses with a ramp profile, and a structured serial protocol. For the supervisory layer, a desktop application has been developed within the PyQt5 framework, integrating five input modalities, namely manual, sequential, visual, voice and peripheral control. The visual subsystem employs the MediaPipe Hands library and converts the motion of the palm into motion commands by means of rate control with zone classification. The functionality of the whole system has been verified by practical tests on the realized prototype.