ROS BASED MOBILE MANIPULATOR HAVING GESTURE CONTROL

Project Title

ROS BASED MOBILE MANIPULATOR HAVING GESTURE CONTROL

Project Area of Specialization RoboticsProject Summary

ROS based mobile manipulator is robotic arm placed on a mobile platform. ROS, which means Robot Operating System, is a set of software libraries and tools to help us build robot application. We can perform various tasks just by using built-in packages. So we don’t need to spend time on pre defined things, we have to just focus on our goal. Now a day’s European and North American countries are adopting this technology for industries and Military aspect. With the help of robotic arm which based on ROS we can perform tasks more efficiently. We have great simulation environment for our robotic arm operations like pick and place, welding or drilling by changing the gripper as an extension.

Our project consist of following features

1. Gesture controlled robotic arm.
2. Arm can be assemble and dissembled form base easily
3. Interchange able gripper
4. Cutting
5. Pick and place
6. Wireless controlled
7. Virtual reality using camera output on mobile

There are many application of robotic arm you can imagine this by thy human hand which can do almost every type of task like (material handling, drill, mining, open the door, cutting etc)

We are using this robot for the following applications

1. Bomb disposal in military application
2. Pick and place in automated industrial applications

Project Objectives

Understand the basic configuration of robot

Fabrication and mobility of robot.

Understands the algorithm and implement them.

Design user friendly controlled workstation.

Source of operation is totally wireless.

Visual feedback to increase the performance of task.

Remote and gesture controlled robotic arm.

Smooth movement of manipulator

Robust robot

Project Implementation Method

This project use master control workstation (laptop), raspberry pi, arduino mega controller processor and different sensor. Robotic arm has belt pulley mechanism using stepper motor and stepper motors are drive through stepper drivers. It will be 5 DOF (degree of freedom) robotic arm with mobile plate form is operating wirelessly through remote control and gesture control. There is a visual feedback due to which operator can perform the task precisely through Gesture control. Operator wear a proto type glove on which flex sensor and gyro sensor are mounted, these sensor value replicate human arm to robotic arm.

The simulation of mobile manipulator is also RVIZ using ROS packages.

Block diagram show the implantation of the project

Benefits of the Project

1. Save life of bomb disposal squad
2. Perform the task irrespective of the environment condition
3. It can do repetitive tasks
4. Increase industrial production
5. It can perform multiple tasks by changing the gripper.
6. It can work in hazardous environment.

Technical Details of Final Deliverable

1. Range of robot operation will in the range of Wi-Fi range.
2. 5 DOF (degree of freedom) robotic arm.
3. Mobile base for robotic arm.
4. Approximate weight 40kg.
5. Lift up to 1kg package.
6. Angular and linear motion of manipulator.
7. All axis movements are limited to some ranges of angles.
8. Cut wire (copper, silver) up to 1mm diameter (single or double stain wire).
9. Force limitation while gripping for different material package.
10. Multiple gripper option.

Final Deliverable of the Project HW/SW integrated systemType of Industry Manufacturing , Others , Security Technologies Internet of Things (IoT), RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	69700
ACRYLIC SHEET 3*4 FEET SQAURE	Equipment	1	6000	6000
ACRYLIC CUTTING	Miscellaneous	1	5000	5000
STEPPER MOTORS	Equipment	700	5	3500
STEPPER DRIVERS	Equipment	1000	5	5000
BLDC MOTORS	Equipment	4	2000	8000
BLDC DRIVER	Equipment	2	4500	9000
FLEX SENOR 2.2	Equipment	1	1500	1500
FLEX SENSOR 4.5	Equipment	2	3000	6000
MPU 6050	Equipment	1	350	350
NUT BOLTS,WIRES	Equipment	1	1000	1000
ARDUINO MEGA	Equipment	1	1250	1250
ARDUNINO NANO	Equipment	1	600	600
RASPBERRY PI	Equipment	1	6000	6000
BATTERY 24 V	Equipment	2	2000	4000
LIPO 3S 1500MAH	Equipment	1	1500	1500
PCB BOARD AND COMPONENTS	Miscellaneous	1	2000	2000
RC RECEIVER TRANSMITTER	Equipment	1	6000	6000
CAMERA	Equipment	2	1000	2000
VR BOX	Equipment	1	1000	1000