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

Autori
Vasiljević, Goran ; Jagodin, Nikola ; Kovačić, Zdenko

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

Izvornik
Preprints of the 10th IFAC Symposium on Robot Control – SYROCO 2012 / Petrović, Ivan - Zagreb : International Federation of Automatic Control (IFAC), 2012, 878-883

Skup
10th IFAC Symposium on Robot Control – SYROCO 2012

Mjesto i datum
Dubrovnik, Hrvatska, 05.09.2012. - 07.09.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
remote control ; robot ; Kinect ; velocity control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA