Öz
One of the
inputs that has an important value in the development of lean manufacturing
systems increasing worldwide are the studies on robotics undoubtedly. The use
of robot technologies in production is necessary if it is desired to reduce
accident rates and manufacturing defects. In other words, the precision and
quality in production increase day by day with the increasing use of robots in
industrial applications. In parallel with this approach, it is observed to
increase the similarity to human hand structure of the robot manipulators day
after day. In this study, the control of the mechatronic-based robotic hand has
been performed by the position information obtained from the human hand using
flex sensors mounted on glove. First, the angular movements of the human
fingers have been sensed and these signals have been processed by a
microcontroller. Then the control of robot hand has been performed according to
this data by using servo motors. At the end of the study, it has become
possible to control remotely manipulation process in dangerous environments for
human using robot hand. Unlike other existing manipulators, this study, which
is carried out at a lower cost, aims to be pioneer for artificial intelligence
based study that is planned to be carried out in the future.
Kaynakça
- Salvador Cobos, Manuel Ferre, M.A. Sanchez Uran, Javier Ortego and Cesar Pena, “Efficient Human Hand Kinematics for Manipulation Tasks”, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center, Nice, France, 2008
- Chao-Chieh Lan, Che-Min Lin, Chen-Hsien Fan, "A Self-Sensing Microgripper Module With Wide Handling Ranges,", IEEE/ASME Transactions on Mechatronics, vol.16, no.1, pp.141-50, doi:10.1109/TMECH.2009.2037495, 2011
- Ryew, S., Hyoukryeol Choi, "Doubleactive universal joint (DAUJ): robotic jointmechanism for human-like motions," in,IEEE Transactions on Robotics and Automation, vol.17, no.3, pp.290-300, doi: 10.1109/70.938386, 2001
- Malegam, K.D.; D'Silva, M.S.,"Mimicking robotic hand-arm," 2011 Annual IEEE India Conference (INDICON), pp.1-5, 16-18, doi: 10.1109/INDCON.2011.6139365, 2011
- Hafiane, S., Salih, Y., Malik, A.S., "3Dhand recognition for telerobotics," 2013IEEE Symposium on Computers &Informatics (ISCI), pp.132-137, doi: 10.1109/ISCI.2013.6612390, 2013
- Zhanat Kappassov, Juan-AntonioCorrales, Véronique Perdereau, “Tactile sensing in dexterous robot hands — Review”,Robotics and Autonomous Systems,Volume 74, Part A, Pages195-220, ISSN 0921-8890, doi: dx.10.1016/j.robot.2015.07.015, 2015
- Zhe Xu and Emanuel Todorov, “Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration”, Robotics and Automation (ICRA), 2016 IEEE International Conference on, DOI: 10.1109/ICRA.2016.7487528, 2016
- Kiyoshi Hoshino, “Copycat Hand - Robot Hand Generating Imitative Behaviour at High Speed and with High Accuracy”, Humanoid Robots, New Developments, Book edited by: Armando Carlos de Pina Filho ISBN 978-3-902613-02-8, pp.582, I-Tech, Vienna, Austria, 2007
- Abidhusain Syed, Zamrrud Taj H. Agasbal, Thimmannagouday Melligeri, Bheemesh Gudur, “Flex Sensor Based Robotic Arm Controller Using Micro Controller”, Journal of Software Engineering and Applications, 364-366, http://dx.doi.org/10.4236/jsea.2012.55042, 2012
- Jayant Y. Hande, Niket Malusare, SubodhSawarbandhe, HarshalDarbhe, “Design for Robotic Hand Using Flex-sensor”, International Journal of Advanced Research in Electronics and Communication Engineering (IJARECE), page 2846-2850,Volume 4, Issue 12, 2015
Öz
Dünya genelinde artan yalın üretim sistemlerinin
gelişmesinde şüphesiz en önemli değere sahip olan girdilerden birisi de robotik
çalışmalardır. Robotik çalışmalar sayesinde üretimde oluşabilecek hata payları
ve kaza oranları en aza indirilerek üretimler gerçekleştirilebilmektedir. Başka
bir söyleyişle, endüstriyel uygulamalarda robot kullanımının yaygınlaşması ile
birlikte üretim kalitesi ve hassasiyeti artmıştır. Bu yaklaşımla, robot
manipülatörlerinin zamanla insan eli yapısına olan benzerliklerinin artması
gözlemlenmektedir. Bu çalışmada, eldivene monte edilmiş esneklik sensörleri
yardımıyla insan elinden alınan konum bilgileri ile mekatronik tabanlı robotik
elinin kontrolü sağlanmıştır. İnsan el parmaklarının açısal hareketleri
algılanarak bir mikrodenetleyici tarafından işlendikten sonra servo motorlar
yardımıyla robot elin kontrolü gerçeklenmiştir. Çalışma sonunda ortaya çıkan
robot el ile insan için tehlikeli ortamlarda manipülasyon işlemlerini uzaktan
kontrol etmek amaçlanmıştır. Diğer mevcut manipülatörlerin aksine daha az bir
maliyet ile gerçekleştirilen bu çalışmanın ileride gerçekleştirilmesi planlanan
yapay zeka tabanlı çalışmalara zemin oluşturması hedeflenmektedir.
Anahtar Kelimeler
Kaynakça
- Salvador Cobos, Manuel Ferre, M.A. Sanchez Uran, Javier Ortego and Cesar Pena, “Efficient Human Hand Kinematics for Manipulation Tasks”, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center, Nice, France, 2008
- Chao-Chieh Lan, Che-Min Lin, Chen-Hsien Fan, "A Self-Sensing Microgripper Module With Wide Handling Ranges,", IEEE/ASME Transactions on Mechatronics, vol.16, no.1, pp.141-50, doi:10.1109/TMECH.2009.2037495, 2011
- Ryew, S., Hyoukryeol Choi, "Doubleactive universal joint (DAUJ): robotic jointmechanism for human-like motions," in,IEEE Transactions on Robotics and Automation, vol.17, no.3, pp.290-300, doi: 10.1109/70.938386, 2001
- Malegam, K.D.; D'Silva, M.S.,"Mimicking robotic hand-arm," 2011 Annual IEEE India Conference (INDICON), pp.1-5, 16-18, doi: 10.1109/INDCON.2011.6139365, 2011
- Hafiane, S., Salih, Y., Malik, A.S., "3Dhand recognition for telerobotics," 2013IEEE Symposium on Computers &Informatics (ISCI), pp.132-137, doi: 10.1109/ISCI.2013.6612390, 2013
- Zhanat Kappassov, Juan-AntonioCorrales, Véronique Perdereau, “Tactile sensing in dexterous robot hands — Review”,Robotics and Autonomous Systems,Volume 74, Part A, Pages195-220, ISSN 0921-8890, doi: dx.10.1016/j.robot.2015.07.015, 2015
- Zhe Xu and Emanuel Todorov, “Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration”, Robotics and Automation (ICRA), 2016 IEEE International Conference on, DOI: 10.1109/ICRA.2016.7487528, 2016
- Kiyoshi Hoshino, “Copycat Hand - Robot Hand Generating Imitative Behaviour at High Speed and with High Accuracy”, Humanoid Robots, New Developments, Book edited by: Armando Carlos de Pina Filho ISBN 978-3-902613-02-8, pp.582, I-Tech, Vienna, Austria, 2007
- Abidhusain Syed, Zamrrud Taj H. Agasbal, Thimmannagouday Melligeri, Bheemesh Gudur, “Flex Sensor Based Robotic Arm Controller Using Micro Controller”, Journal of Software Engineering and Applications, 364-366, http://dx.doi.org/10.4236/jsea.2012.55042, 2012
- Jayant Y. Hande, Niket Malusare, SubodhSawarbandhe, HarshalDarbhe, “Design for Robotic Hand Using Flex-sensor”, International Journal of Advanced Research in Electronics and Communication Engineering (IJARECE), page 2846-2850,Volume 4, Issue 12, 2015
Ayrıntılar
| Konular | Mühendislik |
|---|---|
| Bölüm | Makaleler |
| Yazarlar | |
| Yayımlanma Tarihi | 1 Ekim 2017 |
| Gönderilme Tarihi | 17 Mayıs 2017 |
| Yayımlandığı Sayı | Yıl 2017 Cilt: 5 Sayı: 3 |