Gesture-based Interface for Real-time Control of a Mitsubishi SCARA Robot Manipulator

被引：6
|
作者：
Popov, V. [1 ]
Ahmed, S. [1 ]
Shakev, N. [1 ]
Topalov, A. [1 ]
机构：
[1] Tech Univ Sofia, Control Syst Dept, Branch Plovdiv, Plovdiv, Bulgaria
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 25期
关键词：
Kinect sensor; gesture recognition; control; human-robot interaction; Mitsubishi SCARA manipulator;
D O I：
10.1016/j.ifacol.2019.12.469
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new approach to control robot manipulators using body gestures is presented. It implements the Microsoft Kinect sensor ability to track joint positions. The later has been used in the developed software application for gesture recognition, operating in Matlab programming environment, that maps the gestures into robot control commands. The goal is to control the movements of an industrial manipulator that shares its workspace with humans. Such a working environment is characterized with complexity and dynamism. In this way a more-effective interface with the controlled robot can been created. The experimental tests have been carried out with a Mitsubishi SCARA robot manipulator model RH-6CH7020-1D1-S15. (c) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：180 / 185
页数：6
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