Abstract

A stationary four degree of freedom (DoF) robotic arms such as the base, an elbow, a vertical extension and a gripper are said to be a manipulator. The controlling of a robots can be achieved through various methods, such as through traditional approaches like buttons and joysticks, as well as more sophisticated systems that use motion sensors and vision systems. However, some limitations of control robots with buttons are lack of intuitive mapping, safety concerns, fatigue and ergonomics. Therfore, this paper focus on the ability of a robotic arm to replicate the motion of an actual human arm, using gyroscopic sensors to gather data on the motion of the hand. Two units of NodeMCU, one unit of Gyroscope (MPU6050), four units of servo motor, one unit of push button and a 6VDC 4A power source are the various components used for executing the device. The device was designed to have two modules, one being the server and the other being the client. The server create WiFi network. The NodeMCU unit sent data which has been retrieved from MPU6050 to the client. The client is responsible for the actuation of the servo motors. Therefore, by validation, the sensitivty and accuracy of MPU6050 result justified that, this device has the potential to greatly improve the capabilities of robotic arms and potentially reducing the risks and hazards accompanied with carrying out industrial tasks.

Key words: Robotic Arm, Degree of Freedom, NodeMCU, Gyroscopic Sensor,