Controlling the Bomb Disposal Robot using Microsoft Kinect Sensor

摘要

This study aims to control the bomb disposal robot by developing a design and creating an intelligence using Microsoft Kinect controller. This also shows the comparison of speed in terms of time between the joystick controller and the Microsoft Kinect controller. The proponents analyzed the design and mechanism of the bomb disposal robot and implemented a dual arm robot with 10 Degrees of Freedom, they develop a counter torque and reduce the load that the servo motor experience. To create an intelligence, the proponents get the needed Microsoft Kinect joints, constructed the vectors and acquired the angles from those vectors using dot product. For the proponents to evaluate the speed of Microsoft Kinect controller, they assess the capability of the Microsoft Kinect controlled robot and perform all 23 tasks the joystick-controlled robot did and made 30 test runs with each task it completed. They tally the time in finishing the task, get the averages and the time differences between the two controllers. Furthermore, the proponents asserted that the design for the bomb disposal robot has been implemented as well as the algorithm in creating the intelligence but, the proponents observed that the robot arms can only lift light objects and the wheels can only maneuver in flat surfaces. Similarly, the proponents analyzed that the Microsoft Kinect controller is faster in completing the tasks than the joystick controller in the tasks that both controllers were able to complete.