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Robotics & Automation

Project 1 By:

ROBOT ARM END EFFECTER CONTROL USING SOFT ACTUATOR

ABSTRACT

            The robot arm have been used widely in the industry where it can be program to do a simple task like pick and place an object. Therefore, the main part on robot arm to accomplish the task is the end effecter. The conventional metal end effecter limits the usage of robot arm where it can only performed task on hard solid object. Due to this limitation, this project has been proposed. In this project, the conventional robot arm metal end affecter is replaced with soft actuator. This robot end effecter is constructed using four soft actuators.

          The structure of the end effecter make it has a firm grip on an object. The soft actuators are pneumatic actuators where it is actuated using air pressure supplied and it is made from silicone rubber. The soft actuators are controlled by human fingers movement by using the flexible bend sensor where the gripping function will follow the human gripping motion. The soft actuators enables the robot arm to be used in performing task on various type of object including soft and fragile object thus overcome the limitation.

Project 2 By:

Muaammar Hadi Kuzman Ali

MUAMMAR

REAL-TIME HAND GESTURES SYSTEM FOR MOBILE ROBOTS CONTROL

ABSTRACT

               Autonomous mobile robot navigation in an indoor environment using vision sensor is receiving a considerable attention in current robotics research activities. In this paper, a robot controlled by real-time hand gesture is proposed. This system includes an image pre-processing and feature of extraction state that consists of bounding box and Center-Of-Mass based computation. Through the feature of extraction state, the object’s Center-Of-Mass and bounding box attributes are extracted to be applied for gesture sign control. This system could be used in gesture recognition for robot control applications. The result shows the developed mobile robots could be controlled successfully through hand gestures that facilitate the process of human-robot interaction.

                 The mobile robot consists of three layers and the layers are placed 4 cm apart to allow for a suitable gap for circuits to be placed. Figs. 2 have shown a snapshot for the complete structure of the robot. The main board including the microcontroller and stepper motor controller circuit is placed on the bottom layer. It also holds the stepper motors on both sides of the layer and a cargo ball is placed in the front part of the layer. The second layer contains the battery, an XBee module circuit.

 robot3

 

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