Master-slave system using Kinect and an industrial robot for teleoperations
- Resource Type
- Conference
- Authors
- Arango, Carlos A.; Martinez, Jose R.; Perez, Vera Z.
- Source
- 2013 Pan American Health Care Exchanges (PAHCE) Health Care Exchanges (PAHCE), 2013 Pan American. :1-6 Apr, 2013
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Trajectory
Robot sensing systems
Joints
Webcams
Correlation coefficient
Manipulators
Human robot interaction
Kinect
Robot Control
Robot Kinematics
Telerobotics
- Language
- ISSN
- 2327-8161
2327-817X
In this paper, we report the integration of a Kinect sensor device with a robotic arm Kuka KR6 as a master-slave communication for applications of teleoperation and bioengineering. The Kinect device captures the position of the user's right hand, filters its resulting data and detects its movement using Haar wavelets. This data is then sent to the Kuka KR6 controller and it moves using forward kinematics. A series of tests were implemented to evaluate the accuracy of the slave system position compared to the user's right hand position using the Pearson correlation coefficient method. It resulted in a very strong correlation between them.