IMU and Compass Sensors for Wireless Control of 6 DOF Parallel Manupulator

Almost six decades ago, the first parallel manipulator designed by Gough V. E. with his team for tire test system, and then Stewart D. designed with different configuration to build a platform with 6 degrees-of-freedom (DOF) as flight simulator. Until today, many researchers are inspired by Gough-Stewart platform with exploit the parallel manipulator potential over serial manipulator. Thus, in this paper, a new model of 6 DOF parallel link manipulator with rotary actuator driven by DC servo motors is fabricate and control using wireless controller integrated with Inertial Measurement Unit (IMU) sensor and campus sensor. The control methods are to orientate the upper platform of parallel manipulator follow the orientation of remote controller. The IMU sensor unit consists of ITG-3200 gyroscope and ADXL345 accelerometer which combine together with HMC5883L magnetometer sensor (compass) to control three axis rotation orientations. In addition, the analog joystick is use to control linear position of the upper platform. These sensors will then embed onto remote controller. The Kalman filter is implemented to predict and estimate the sensor orientation. The control system using simplify inverse kinematics algorithm to compute each trajectory angle of rotary actuator. An Arduino microcontroller boards are use as main processor unit for overall control system and nRF24L01+ transceiver module use to wireless communication between remote controller and parallel manipulator model.

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