Design of a gripping imitator robotic arm for taking an object

摘要

This paper presents the design of robotic arm which imitate the human hand movement to grip an object. The robotic arm is remote controlled so that it can be equipped to a robot which can explore inaccessible or hazardous area and do a dangerous task. The operator's hand movement will be captured by camera and will be processed in three level approaches of video processing namely background subtraction, hand and finger detection, and gripping recognition. The video processing result will be converted by inverse kinematics to become joint space of the robotic arm. The joint space data is sent to robotic arm as the signal control using bluetooth module. The test result shows that the system can work properly and in its optimum parameters, it can achieve 85% of success rate.