Design and manufacture of pendulum suspended robotic arm of 4 DOF, for use in a enhance virtual reality application with remote museography collections online and Internet control

This paper presents the design, manufacture, control and implementation of a robot pendulum suspended from 4 degrees of freedom, used to control the position and display a high-definition camera within the project “Theater of Memory virtual Worlds”. The hardware is simulated in a virtual environment J3D-VRVIL 2.0, which includes an algorithm to avoid collisions between the camera and the object also has a user interface that includes representation of the robot to make supervision and control using a client-server through internet with commercial joystick and viewing the video output of the camera from the scene digitally reconstructed museum through multicasting system.