PRESENTED BYD.KAVITHAIII BE ECE

JAYARAM 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

THE ROBOTICS SYSTEM FRIEND

ARCHITECTURE OF THE SYSTEM FRIEND

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

DEMONSTRATION

POURING A GLASS

EXPERIMENTAL RESULTS

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.

START AND END OF PICK ACTION

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 close to the object causes

collision with the shelf.

Grasping without collision from a surface (optimal) wheelchair

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

Thank You

Queries???