Implementación de un sistema inclusivo basado en el uso del brazo robótico ANNO RV624 para alimentar a personas con discapacidad motora

Abstract

In the present work the implementation of an inclusive system based on the use of the ANNO RV624 robotic arm to feed people with motor disabilities was proposed with the fundamental purpose of linking academic knowledge with society, providing a solution to a group of people considered vulnerable, as first step it was determined the operation and constitution of the robotic arm, to determine the working mechanism of its actuators, motors, components and controllers, and then design an algorithm that will serve for the use of artificial vision, in this stage a camera was used for the acquisition of information and computer vision techniques will be used, in addition as main software python, making use of its open cv and mediapipe face mesh databases, which are specifically based on the analysis of images of the real world to be translated into a binary language that can be understood by the computer and thus implement the actions programmed in the algorithm. As for the measurement of times according to the speed range, it was evidenced that the speed at 20% is not optimal to fulfill the feeding function, since it caused The loss of the food that the spoon picked up and for a short trajectory it generated vibrations in the table and abrupt decelerations, which can generate physical damage to the integrity of the servomotors of the robotic arm, finally before using the robotic arm ANNO RV624 it is recommended to set the HOME position or zero position, since this takes as initial position the last movement that was made before turning off the equipment.