Real-Time Predictive Control of an UR5 Robotic Arm Through Human Upper Limb Motion Tracking

被引：5

作者：

Omarali, Bukeikhan ^{[1
]}

Taunyazov, Tasbolat ^{[2
]}

Bukeyev, Askhat ^{[3
]}

Shintemirov, Almas ^{[2
]}

机构：

[1] Nazarbayev Univ, NURIS, Sch Engn, 53 Kabanbay Batyr Ave,Z05H0P9, Astana, Kazakhstan

[2] Nazarbayev Univ, Sch Sci & Technol, 53 Kabanbay Batyr Ave,Z05H0P9, Astana, Kazakhstan

[3] Nazarbayev Univ, NURIS, Natl Lab Astana, 53 Kabanbay Batyr Ave,Z05H0P9, Astana, Kazakhstan

来源：

COMPANION OF THE 2017 ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI'17) | 2017年

关键词：

Universal Robots UR5; real-time robot control; model predictive control; motion tracking;

D O I：

10.1145/3029798.3038918

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper reports the authors' initial results on developing a real-time teleoperation system for an Universal Robots robotic arm through human motion capture with a visualization utility built on the Blender Game Engine open-source platform. A linear explicit model predictive robot controller (EMPC) is implemented for online generation of optimal robot trajectories matching operator's wrist position and orientation, whilst adhering to the robot's constraints. The EMPC proved to be superior to open-loop and naive PID controllers in terms of accuracy and safety.

引用

页码：237 / 238

页数：2

共 50 条

[1] Real-Time Predictive Control of an UR5 Robotic Arm Through Human Upper Limb Motion Tracking
Omarali, Bukeikhan
Taunyazov, Tasbolat
Bukeyev, Askhat
Shintemirov, Almas
COMPANION OF THE 2017 ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI'17), 2017, : 414 - 414
[2] Virtual laboratory for online learning of UR5 robotic arm inverse kinematic and joint motion control
Arenas-Rosales, Filemon
Martell-Chavez, Fernando
Sanchez-Chavez, Irma Y.
Paredes-Orta, Carlos A.
INTERNATIONAL CONFERENCE ON ELECTRICAL, COMPUTER AND ENERGY TECHNOLOGIES (ICECET 2021), 2021, : 1844 - 1849
[3] Real-time virtual UR5 robot imitation of human motion based on 3D camera
Qin Weiming
Zhang Xiaomei
Hu Jiwei
Lou Ping
2020 5TH INTERNATIONAL CONFERENCE ON MECHANICAL, CONTROL AND COMPUTER ENGINEERING (ICMCCE 2020), 2020, : 383 - 387
[4] Lw-CNN-Based Myoelectric Signal Recognition and Real-Time Control of Robotic Arm for Upper-Limb Rehabilitation
Guo, Benzhen
Ma, Yanli
Yang, Jingjing
Wang, Zhihui
Zhang, Xiao
COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE, 2020, 2020
[5] Real-time control of a robotic arm by neuronal ensembles
Eberhard E. Fetz
Nature Neuroscience, 1999, 2 : 583 - 584
[6] Real-time control of a robotic arm by neuronal ensembles
Fetz, EE
NATURE NEUROSCIENCE, 1999, 2 (07) : 583 - 584
[7] Development of A Low Cost Upper Limb Motion Tracking System with Real-Time Visual Output
Anuar, Adzly
Sahari, Khairul Salleh Mohamed
Yue, Ewe Chern
2016 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS (IRIS), 2016, : 146 - 150
[8] Real-Time Human Motion Detection and Tracking
Zarka, Nizar
Alhalah, Ziad
Deeb, Rada
2008 3RD INTERNATIONAL CONFERENCE ON INFORMATION AND COMMUNICATION TECHNOLOGIES: FROM THEORY TO APPLICATIONS, VOLS 1-5, 2008, : 1056 - +
[9] Human Limb Motion Real-time Tracking Based on CamShift for Intelligent Rehabilitation System
Luo, Yuan
Yang, Hongmei
Hu, Zhangfang
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 343 - +
[10] Real-Time Contact Sensory Feedback for Upper Limb Robotic Prostheses
Aziziaghdam, Mohammad
Samur, Evren
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2017, 22 (04) : 1786 - 1795

← 1 2 3 4 5 →