Graduation Year


Document Type




Degree Granting Department

Mechanical Engineering

Major Professor

Rajiv Dubey, Ph.D.

Committee Member

Kyle B. Reed, Ph.D.

Committee Member

Redwan M. Alqasemi, Ph.D.

Committee Member

Shuh - Jing Ying, Ph.D.


PID, GUI, rehabilitation robots, C++ functions, accuracy, repeatability


Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.