상세정보
학술지
시각 센서 기반의 다 관절 매니퓰레이터 간접 교시를 위한 유저 인터페이스 설계
- 발행일
- 201310
- 출처
- 제어로봇시스템학회논문지, v.19 no.10, pp.921-927
- ISSN
- 1976-5622
- 출판사
- 제어로봇시스템학회
- 협약과제
- 13VC4500, 양팔 작업을 위한 센서융합 인지 기반 제어기술 개발 및 다중로봇 협업 생산공정 적용 기술 개발, 김중배
- 초록
- This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system. © ICROS 2013.
- KSP 제안 키워드
- Cartesian space, IMU sensor, Inertial Measurement Unit(IMU), Joint angles, Robot Control, Skeleton data, User Interface System, Wrist movement, joint space, programming process, robotic manipulator