Pengembangan Wearable Robotic Arm Input dan Virtual Instrument untuk Pengendalian dan Pemantauan Lengan Robot


  • I Made Wicaksana Ekaputra Universitas Sanata Dharma Yogyakarta
  • Joga Dharma Setiawan Universitas Diponegoro



DOF, End Effetor, LabVIEW, Virtual Instrument, Wearable Robotic Arm Input


This paper investigate the integration of wearable robotic arm input (WRAI) with virtual instrument (VI) for controlling and monitoring the manipulator. The WRAI was designed by following the contours of human arms and equipped with five potentiometers as the sensor. The sensors were placed properly on WRAI by considering the ergonomic aspect. Each sensor on WRAI actuate each joint on the manipulator. The manipulator has five degrees of freedom (DOF) which consists of five revolute joints. For monitoring process, control panel of VI was created suitably by LabVIEW, and its block diagram was mainly programmed by following the forward kinematics approach. The VI obtains the input signal from the rotation of potentiometer on WRAI, and then transmitted to the receiver on manipulator to actuate the joints. By monitoring the control panel, the user can observe each angle joint on manipulator and also the position and orientation of end effector. The test results show the WRAI performs good controllability and ergonomic. The WRAI can control the manipulator easier than using remote control and joystick. Further, the control panel of VI is able to simplify the monitoring process by the friendly user interface.

Author Biography

I Made Wicaksana Ekaputra, Universitas Sanata Dharma Yogyakarta

Lecturer at Universitas Sanata Dharma Yogyakarta


. Angeles, J., 2003, “Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms,†Springer-Verlag, New York.

. Bolton, W., 1999, “Mechatronics: Electronics Control Systems in Mechanical Engineeringâ€, Addison Wesley Longman, USA.

. Bräunl, T, 2006, “ Embedded Robotics: Mobile Robot Design and Applications with Embedded Systemsâ€, Springer-Verlag, Berlin Heidelberg.

. Craig, J., J., 1955, “Introduction to Robotics, Mechanics and Controlâ€, Addison-Wesley Inc., New York.

. Cooke, N., J., Pringle, Heather l, Pedersen H. K., and Connor,. O., 2006, †Advances in Human Performance and Cognitive Engineering Research Volume 7: Human Factors of Remotely Operated Vehiclesâ€, Elsevier Ltd.

. Meriam, J. L, 1987, “Engineering Mechanics, Dynamics, Volume 2â€, John Wiley & Sons, Inc., New York.

. LabVIEW, 1998, “Data Acquisition Basics Manualâ€, National Instruments Corporation, Texas.

. LabVIEW 7, 2003, “Express Measurement Manualâ€, National Instruments Corporation, Texas.

. Pires, J., Norberto, 2007, “Industrial Robots Programming: Building Applications for the Factories of the Futureâ€, Springer Science and Business Media, LLC.

. Shircliff, David, R., 2002, “Build A Remote-Controlled Robotâ€, The McGraw Hill Companies, Inc.

. Smith, Steven, W., 2006, “The Scientist and Engineer's Guide to Digital Signal Processingâ€, California Technical Publishing.