engleski

Kinect-based Robot Teleoperation by Velocities Control in the Joint/Cartesian Frames

In this paper we present a new concept of robot teleoperation by tracking the pose of the human operator's body with the Kinect motion capture sensor. Instead of controlling robot joint positions, positions of operator's hands and legs are used to control robot velocities. In the rst method operator's movements control velocities of individual robot joints, while in the second, velocities of a robot tool in the Cartesian space are controlled in the same manner. In the latter case the joint coordinates are obtained directly from robot's inverse kinematics equations. The methods were demonstrated on a ve degrees of freedom (5-DOF) articulated robot arm Mitsubishi Movemaster EX.

remote control ; robot ; Kinect ; velocity control

nije evidentirano