Naslov
Robot arm teleoperation via RGBD sensor palm tracking

Autori
Marić, Filip ; Jurin, Ivan ; Marković, Ivan ; Kalafatić, Zoran ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
International Convention on Information and Communication Technology, Electronics and Microelectronics (Mipro) / - Opatija, 2016

Skup
International Convention on Information and Communication Technology, Electronics and Microelectronics (Mipro)

Mjesto i datum
Opatija, Hrvatska, 30.05.2016. - 03.06.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robotic arm; Palm detection; Teleoperation; Kinect

Sažetak
In this paper we present a simple and intuitive approach to teleoperating a 3 or higher degrees-of-freedom (DOF) robotic arm in Cartesian space. Using an RGBD camera, we retrieve the position of the user’s palm. This position is then translated into the desired robotic arm position, which is then used as an input to a control loop. The entire system is implemented in the Robotic Operating System, enabling simple functionality transfer to any compatible robotic arm. The system was tested on the Kinova Jaco 6DOF robotic arm with the aim of using it for object manipulation. We use the inverse kinematics for calculating the joint rotation velocities required for following the Cartesian path of the human hand. The resulting joint velocities are then sent to the robotic arm control interface which then passes commands to the pertaining API. Results corroborate the validity of the proposed approach for robotic arm teleoperation, opening the possibility for many potential applications.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA