Samenvatting

Research was conducted to enable remote control of a humanoid robotic arm using movements of the human arm. Several options for the measurement technique have been discussed, resulting in a proposal for usage of MARG sensor modules to measure human arm movement. The InvenSense MPU9250 sensors where used, since these had the best performance at the price. The AHRS algorithm proposed by Madgwick’s research has been used to increase the MARG sensor data accuracy. Furthermore, an angle conversion method has been proposed, to generate angles for the robot arm based on the MARG sensor data. The sensors where calibrated and tested in cooperation with the filter on small cables and the angle conversion algorithm had been tested for its calculations in MATLAB. It was not possible to get the proof of concept working within this research, but the separate parts show that the proposes system is a viable option for remote control of a humanoid robotic arm.