263 Paper Details
Camera Captured Data Control of a Robot for Disabled People
Arif Ankarali, Murat Çilli
Abstract
This robot is designed for disabled people who wish to live as the others. Camera captured data of a healthy praying person will be utilized to provide the required joints rotary motions of the proposed robot. Then this data will be transformed to joint angular trajectories. Joint trajectories necessary to realize the required motion will be used on robot motion controls. One of the most important control problem of humanoid robots is the efficient calculation of correct joint angles for a given space trajectory. To realize the motions of the people on the robot, PID controls will be applied to servomotors to generate the correct positions of the leg joints. The success of the control of the given mechanism will be tested through Simulink/SimMechanics model including developed embedded Matlab functions. The result of the simulations would also be extended to animations of a praying person to provide some educational material about praying.
Published in:
5th International Symposium on Innovative Technologies in Engineering and Science 29-30 September 2017 (ISITES2017 Baku - Azerbaijan)