Controlling a Robot Hand in Simulation and Reality

This useful tool is able to perform a lot of different grasps like lifting, holding and squeezing various objects. For the majority of men the ability to use this tool seems pretty obvious. But for others this opportunity seems far away as an effect of war or inherent disability. One of the reasons

Project Title

Controlling a Robot Hand in Simulation and Reality

Project Area of Specialization

Robotics

Project Summary

This useful tool is able to perform a lot of different grasps like lifting, holding and squeezing various objects. For the majority of men the ability to use this tool seems pretty obvious. But for others this opportunity seems far away as an effect of war or inherent disability. One of the reasons behind the research in robot hands is to recreate mechanical copies, prosthesis, which can replace this important body part. Another important application is as a gripper for robots in the industry to place or move components in place on an assembly line. A third area of application for the robot hand is in dangerous or extreme environments as under water or in chemical surroundings.

The hands can be steered by wire which means that the human movements are imitated by the robot. They can also be controlled autonomous where sensors and cameras give the inputs to the robot. These robots have to be cheap, easy to repair and manufacture as well as light and strong. The task to come up with a good solution that satisfies all requirements is hard and request for much research.

Project Objectives

In this project the aim is to continue the development of a controller that can handle the whole hand and perform varied grasps.

The first goal is to implement the prototype controller.

The second goal is to create a simulated model of the hand that can be furthermore developed and tested in a computer. The controller made in the previous projects is built in MATLAB/simulink  which also will be used in this project.

Project Implementation Method

The simulink model was from the beginning built with the purpose to be used for both simulation and in real life. But before the system will work properly on the real robot some changes has to be done in the software and hardware.

 Software

 • In the model the block named robot hand was replaced with another named dSPACE consisting of the motor drivers and the sensor and position signals

• The median filter for the force sensors was replaced with the low pass filter block

• All MATLAB functions that was included in the block diagram had to be constructed as block diagram because MATLAB could not build code out of these functions

• Some changes had to be done to make it possible to restart the system and reset the variables

• A manual control had to be created to make it possible to move the fingers for the system calibration

Hardware

• There are limitations on the dSPACE box like the number of inputs. The hand has 9 tactile sensors while the dSPACE box only has got 8 inputs. The new robot hand is equipped with a palm sensor and therefore the proximal and middle sensors will be connected to each other on finger one and two. Until then the middle sensor on finger one will not be connected to dSPACE at all.

• There is only two encoder inputs on the dSPACE board. For this reason the position of the two forefingers are the same read from the encoder on finger two. In the new prototype new encoders are built in that are absolute and uses the PWM inputs.

Benefits of the Project

Benefits of the project are:

1. A gripper for robots in the industry to place or move components in place on an assembly line.

1. This robot hand is useful  in dangerous or extreme environments as under water or in chemical surroundings.

The third application of this project is service robotics where the idea is to use intelligent robots to help with duties at home. For example they can do the cleaning and cooking like a regular domestic servant but also to help old peoples that are weak or require around-the-clock attendance.

Technical Details of Final Deliverable

To create test environments and view the simulation a program is used called GraspIt!. This program consists of both a physics engine for velocities and forces and a graphics engine that draws the hand and grasped objects on the screen. The project also includes defining limitations on the finger movements to avoid hardware damage.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Education

Other Industries

IT , Medical

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI)

Sustainable Development Goals

Good Health and Well-Being for People, Quality Education

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com