In this work we developed an intuitive way to teleoperate a Comau industrial robot by means of a Microsoft Kinect device, in order to control directly the manipulator joints by retargeting specific human motion. The motion remapping into the robot joints has been done by computing angles between vectors built from positions of human joints. The developed teleoperation system has been successfully tested on two real Comau robots, revealing to be fast and strongly reliable.
Development of an interface for intuitive teleoperation of Comau manipulator robots using RGB-D sensors
Bisson, Andrea
2014/2015
Abstract
In this work we developed an intuitive way to teleoperate a Comau industrial robot by means of a Microsoft Kinect device, in order to control directly the manipulator joints by retargeting specific human motion. The motion remapping into the robot joints has been done by computing angles between vectors built from positions of human joints. The developed teleoperation system has been successfully tested on two real Comau robots, revealing to be fast and strongly reliable.File in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/18249