시각 센서 기반의 다 관절 매니퓰레이터 간접교시를 위한 유저 인터페이스 설계
A User Interface for Vision Sensor based Indirect Teaching of a Robotic Manipulator
- Resource Type
- Article
- Authors
- 김태우; 이후만; 김중배
- Source
- 제어.로봇.시스템학회 논문지, 19(10), pp.921-927 Oct, 2013
- Subject
- 제어계측공학
- Language
- 한국어
- ISSN
- 2233-4335
1976-5622
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.