THIS IS A PRESENTATION ON ROBOT HAND.

1. PRESENTED BY
D.KAVITHA
III BE ECE
JAYARAM ENGINEERING COLLEGE OF
TECHNOLOGY

2.  Developed at the University Bermen’s Institute of
Automation(IAT)
 Offers increased control functionality for the
disabled users
 Robot arm MANUS was specially designed for
people with upper-limb impairments

3.  Electric wheelchair
 Robot arm MANUS
 Dual Pentium PC
 CAN-bus
 RS-232 interface
 Tray and flat LCD display
 Mini camera
 Speech recognition software
 Arm controller

4. THE ROBOTICS SYSTEM FRIEND

5. ARCHITECTURE OF THE SYSTEM
FRIEND

6.  Programming may be done using either
 Teach-in procedure
 Robot Programming by Demonstration(RPD)
 Control
 By user
 Autonomous control by the system

7.  Programmer demonstrates task to be executed
with his own hand
 Motions are measured, recorded and processed
 Measurements are not used in simple pick and
place
 Used to execute complex trajectories without
difficulty inspite of variable initial conditions

8. DEMONSTRATION

9. POURING A GLASS

10. EXPERIMENTAL RESULTS

11.  FRIEND uses a grasp utility- labeled objects
 Visual servoing with a gripper-mounted camera is
used along with TbS
 To grasp the same object the gripper is moved to
taught grasp position.
 It may be manually done or automatically done.

12. START AND END OF PICK ACTION

13.  Computes the change in position of the robot
 In new position control algorithm is used to reach
the taught relative position
 A controller must
 Drive the gripper from any reasonable starting
position to the gripping position
 Must ensure that the object marker remains in the
image during the motion

14. Positioning the wheelchair too Grasping without collision from a
close to the object causes surface (optimal) wheelchair
collision with the shelf. location.

15.  Laborious
 Time delay in speech recognition system
 Improvement arises with semi-autonomous
actions
 Research and development is still required
 Future work will focus on
 Analysis and implementation of semiautonomous
actions
 Simplification of MMI
 Improvement of the safety functions

16. Thank You

17. Queries???