scholarly journals Hand Gesture Controlled Robot Arm

2020 ◽  
Vol 9 (6) ◽  
pp. 405-409
Keyword(s):  
Industrial Robot ◽  
Hand Movement ◽  
Human Hand ◽  
Robot Arm ◽  
Widespread Application ◽  
Robotic Arms ◽  
Sensor Resistance ◽  
Complex Process ◽  
Proposed Model ◽  
Driver Circuit

Robotic Arms are generally a programmable type of mechanical arm with functions similar to human arm which is either the sum of total mechanism or may be a complex robot part. These robotic arms are employed in assembly line of industries performing complex process like drilling, painting and painting etc. It is possible to fabricate gesture controlled Industrial robot arms. The robot is easily accessible and requires lesser controlling effects. In this work a glove attached to human hand is incorporated with flex sensors and transceiver. The flex sensor resistance can be varied by hand movement which is transferred to the axis of robot. The resistance of glove can make robot rotate either angular or in a linear motion about its axis. A transceiver circuit is employed for signal control which is capable of transmitting and receiving signal between human hand and robotic arm.The flex sensor senses and gives corresponding signals. The analog signal from the flex sensor given to Arduino, it will work according to the Arduino program. The signal is transmitted from Arduino to Zigbee for wireless communication. The driver circuit put together with transistor to control the relay. The relay output is connected directly to motor joined with the robot. With this arrangement arm can be used for pick and place application. The robotic arm delivers the programmed movement and the proposed model have widespread application for people working in hazardous areas.

scholarly journals NTU Hand: A New Design of Dexterous Hands

1998 ◽  
Vol 120 (2) ◽  
pp. 282-292 ◽  
Author(s):  
Li-Ren Lin ◽  
Han-Pang Huang
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Point Of View ◽  
Human Hand ◽  
Three Dimension ◽  
Robot Arm ◽  
Specific Point ◽  
Mechanical Parts ◽  
Compact Design ◽  
The Relationship

A new five-finger robot hand (NTU hand) with seventeen degrees of freedom (DOF) is developed in this paper. In contrast to traditional tendon-driven robots, the NTU hand has an uncoupled configuration that each finger and joint are all individually driven. Since all actuators, mechanical parts and sensors are packed on the hand, the size of NTU hand is almost the same as a human hand. Such compact design makes the hand easily adapt to the industrial robot arm and the prosthetic applications. Based on the mechanical structure of the NTU hand, the direct and inverse kinematics are developed. In addition, computer simulation with three-dimension graphics is built to evaluate the manipulable range of the NTU hand. From the simulation, the relationship between the hand and the grasped object in a specific point of view can be obtained.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

Motion Identification of the Human Agent's Arm in Case of Grabbing a Cylindrical Object and Transposing these in Control Rules for an Industrial Robot

2010 ◽  
Vol 166-167 ◽  
pp. 389-394
Author(s):  
Mihai Stoica ◽  
Gabriela Andreea Calangiu ◽  
Francisc Sisak
Keyword(s):  
Industrial Robot ◽  
Human Hand ◽  
Cylindrical Object ◽  
Control Rules ◽  
Human Agent ◽  
Flexible Fabrication ◽  
Made In ◽  
The Way

Regarding the grabbing of the objects by the robots, countless researches have been made. In particular it has been researched for obtaining the models for the human hand and the way it acts when the human agent wants to grab an object. In this paper a few elements obtained after a research concerning the natural grab of object by human, has been made. In our research, we have made measurements for the motion coordinates of human agent arm, when he desires to grab a cylindrical object. The aim was to identify the grabbing motions and to transpose them in acting models (acting rules) used for programming an industrial robot, placed into a flexible fabrication cell.

scholarly journals Design and multichannel electromyography system-based neural network control of a low-cost myoelectric prosthesis hand

2021 ◽  
Vol 12 (1) ◽  
pp. 69-83
Author(s):  
Saygin Siddiq Ahmed ◽  
Ahmed R. J. Almusawi ◽  
Bülent Yilmaz ◽  
Nuran Dogru
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Low Cost ◽  
Hand Movement ◽  
Cost Effective ◽  
Network Control ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Myoelectric Prosthesis ◽  
System File

Abstract. This study introduces a new control method for electromyography (EMG) in a prosthetic hand application with a practical design of the whole system. The hand is controlled by a motor (which regulates a significant part of the hand movement) and a microcontroller board, which is responsible for receiving and analyzing signals acquired by a Myoware muscle device. The Myoware device accepts muscle signals and sends them to the controller. The controller interprets the received signals based on the designed artificial neural network. In this design, the muscle signals are read and saved in a MATLAB system file. After neural network program processing by MATLAB, they are then applied online to the prosthetic hand. The obtained signal, i.e., electromyogram, is programmed to control the motion of the prosthetic hand with similar behavior to a real human hand. The designed system is tested on seven individuals at Gaziantep University. Due to the sufficient signal of the Mayo armband compared to Myoware sensors, Mayo armband muscle is applied in the proposed system. The discussed results have been shown to be satisfactory in the final proposed system. This system was a feasible, useful, and cost-effective solution for the handless or amputated individuals. They have used the system in their day-to-day activities that allowed them to move freely, easily, and comfortably.

scholarly journals Design and Analysis of High-Efficient Driver Model for LED Luminaires

2021 ◽  
pp. 96-106
Author(s):  
Onur Akalp ◽  
Harun Ozbay ◽  
Serhat Berat Efe
Keyword(s):  
Energy Efficient ◽  
Supply System ◽  
Operating Conditions ◽  
Driver Model ◽  
Zero Voltage Switching ◽  
Proposed Model ◽  
High Efficient ◽  
Driver Circuit ◽  
Low Volume ◽  
Zero Voltage

LED luminaires need a driver circuit for working properly. Most of the drivers have disadvantages such as losses during operation. This issue becomes more important while supplying with limited sources such as renewables. To overcome the problem, this study proposes a novel energy efficient driver for LED luminaires based on zero voltage switching (ZVS) single-ended primary inductance converter (SEPIC) technology. Driver and hence luminaires were designed to be fed from photovoltaic (PV) panels. In addition, an adaptive MPPT algorithm was developed to obtain optimum efficiency from supply system. SEPIC approach was preferred for MPPT application due to its advantages such as non-reversing polarity. This feature allows energy efficiency in corporation with ZVS. Proposed model was designed under PSIM platform with all components; PV panels, ZVS, SEPIC, and LED luminaires. A detailed analysis was performed by using system graphs under various operating conditions as different irradiance levels. Results show that proposed model is energy efficient and modular because of its low-volume structure. Therefore the model can lead smaller driver circuits with minimum losses.

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