Holonomic platform and six DOF manipulator robot through virtual reality devices

Abstract

This paper describes the design and construction of a holonomic robot platform and a manipulator robot arm with 6 degree of freedom on top of the platform. The project explains how its work, made and control considering that the system uses several types of ways to be controlled. The robotic system is the mixture of three omni-wheels mobile platform to keep the robot stable and a modular 6 DOF articulate robot arm. The project had develop some novel control features like control wirelessly via USB throw a master servo Board; it has a graphic user interface developed in 3D virtual environment which shows all its different movements, battery level and manual control. Finally, it has some other devices to be manipulated like Wii remote control and a one 5DT Data Globe.