Development of a Low-Cost Manipulator for Wireless Control from Upper Limb Motion Capture System

This paper presents the development of a low-cost manipulator, wirelessly controlled through an upper limb motion capture system. The communication protocol employed is Message Queuing Telemetry Transport (MQTT). Angle information for manipulating the manipulator is extracted from the motion capture system, utilizing inertial measurement units by fusing sensor data. The manipulator, featuring a four-degree-of-freedom structure created from 3D printing technology. Forward and inverse kinematics based on Denavit-Hartenberg convention was performed for designing the manipulator and torque calculations for selecting the suitable servo motor. In system testing, the manipulator can perform acceptable performance in various position movements, with exceptions in high inertia configurations. Despite these limitations, the system exhibits potential for object manipulation in remote operations, positioning itself as a promising platform for further refinement and application.