Robotics a friend for assisting handicapped people-(s.surya,s.vidhya)
PRESENTED BY D.KAVITHA III BE ECEJAYARAM ENGINEERING COLLEGE OF TECHNOLOGY
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
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
Programming may be done using either Teach-in procedure Robot Programming by Demonstration(RPD) Control By user Autonomous control by the system
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
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.
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
Positioning the wheelchair too Grasping without collision from a close to the object causes surface (optimal) wheelchair collision with the shelf. location.
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