Perancangan Sistem Kendali pada Lengan Assistive Social Robot menggunakan Kamera

Main Article Content

Riky Tri Yunardi
Ronny Mardiyanto

Keywords

Abstract

Robotics technology has widely applied and developed in the rehabilitation field. Assistive Social Robot is a technology that can interact with users and improve progress in rehabilitation. Accessibility when taking an object using a robotic arm system is needed. A camera is the optical sensor that has been applied to detect the position of the object. In this paper explain a design of control system of robotic arm by using a camera. Information of the distance and position are used to organizing the control of the robotic arm movement, that form of a gripper. Tests conducted include: testing to detect the contour of the object, testing the measurement of object distance, and testing the robot arm control. From the results shows the speed of performance of control system that has been designed in performing the task to pick up an object from the initial position to the end takes 28.05 seconds.

Keywords : Assistive social robot, robotic arm , camera


Abstrak—Teknologi robotika telah banyak diaplikasi dan dikembangkan dalam bidang rehabilitasi. Assistive Social Robot merupakan suatu teknologi robotika yang dapat berinteraksi dengan pengguna dan memberi bantuan dalam pemulihan proses rehabilitasi. Aksesibilitas ketika mengambil sebuah benda dengan menggunakan sistem lengan robot sangat dibutuhkah. Kamera merupakan sensor optik yang paling banyak diaplikasikan untuk mendeteksi posisi objek. Artikel ini membahas mengenai sistem kendali lengan robot menggunakan kamera. Informasi jarak dan posisi objek digunakan untuk mengendalikan gerakan lengan robot robot yang berbentuk gripper. Pengujian yang dilakukan meliputi: pengujian mendeteksi kontur objek, pengujian pengukuran jarak objek, serta pengujian kendali lengan robot. Dari hasil menunjukkan kecepatan kinerja sistem kendali yang telah dirancang dalam melakukan tugas untuk mengambil sebuah objek dari posisi awal sampai akhir memerlukan waktu 28,05 detik.

Kata Kunci : Assistive social robot, lengan robot, kamera


References

[1] Brault, Matthew W. "Americans with disabilities: 2010." Current population reports 7 (2012): 0-131.
[2] Feil-Seifer, David, and Maja J. Mataric. "Defining socially assistive robotics." Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on. IEEE, 2005.
[3] Spenko, Matthew, Haoyong Yu, and Steven Dubowsky. "Robotic personal aids for mobility and monitoring for the elderly." IEEE Transactions on Neural Systems and Rehabilitation Engineering 14.3 (2006): 344-351.
[4] Graf, Birgit, et al. "Robotic home assistant Care-O-bot® 3-product vision and innovation platform." Advanced Robotics and its Social Impacts (ARSO), 2009 IEEE Workshop on. IEEE, 2009.
[5] Tsui, Katherine, et al. "Development and evaluation of a flexible interface for a wheelchair mounted robotic arm." Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction. ACM, 2008.
[6] Huang, Tian, et al. "Planar parallel robot mechanism with two translational degrees of freedom." U.S. Patent No. 7,090,458. 15 Aug. 2006.
[7] Yanco, Holly. "Wheelesley: A robotic wheelchair system: Indoor navigation and user interface." Assistive technology and artificial intelligence (1998): 256-268.
[8] Simpson, Richard C., Daniel Poirot, and Francie Baxter. "The Hephaestus smart wheelchair system." IEEE Transactions on Neural Systems and Rehabilitation Engineering 10.2 (2002): 118-122.
[9] Topping, Michael J., and Jane K. Smith. "The development of handy 1. A robotic system to assist the severely disabled." Technology and Disability 10.2 (1999): 95-105.
[10] Saxena, Ashutosh, et al. "A vision-based system for grasping novel objects in cluttered environments." Robotics research. Springer Berlin Heidelberg, 2010. 337-348.
[11] Kouskouridas, Rigas, Angelos Amanatiadis, and Antonios Gasteratos. "Guiding a robotic gripper by visual feedback for object manipulation tasks." Mechatronics (ICM), 2011 IEEE International Conference on. IEEE, 2011.
[12] Wang, Jie, et al. "Research on Hand-Eye Robot." Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on. IEEE, 2006.
[13] Song, Won-Kyung, Heyoung Lee, and Zeungnam Bien. "KARES: Intelligent wheelchair-mounted robotic arm system using vision and force sensor." Robotics and Autonomous Systems 28.1 (1999): 83-94.
[14] Grebenstein, Markus, et al. "The DLR hand arm system." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.
[15] Sanchez-Lopez, Jose Ruben, Antonio Marin-Hernandez, and Elvia R. Palacios-Hernandez. "Visual detection, tracking and pose estimation of a robotic arm end effector." Proc. Robotics Summer Meeting (Veracruz, Mexico, 27–28 June 2011). 2011.