Control of a feeding robot

In this paper, a robot arm and a mechanical palm constitutes a feeding robot. The three-finger palm has four degrees of freedom and 11 movable joints, which include four independent ones, will imitate the movement behavior of mankind´s dexterous hands. Through the kinematics analysis, we get the workspace of every mechanical finger of the mechanical palm and derive out the useful postures for the reference of the claw design. The microcontroller dsPIC30F4011 is used to be the control center. The purpose of the robot is to reach the function helping people to eat meals. Two experiments demonstrate the feeding function.