Kombinirana metoda za antropomorfno preslikavo gibanja človeške roke na robotsko roko Kinova Mico z nosljivimi inercialnimi senzorji Myo

magistrsko delo

Abstract

Uporaba robotov se širi v številna nova področja, kjer roboti obratujejo v človeškem okolju. Eden izmed koristnih načinov vodenja robotske roke je teleoperacija s kretnjami. Zaželeno je, da se roboti v človeškem okolju gibljejo antropomorfno, torej človeku podobno. V ta namen smo z dvema senzorskima zapestnicama Myo zajemali gibanje človeške roke in z njegovo pomočjo vodili simulacijski model robotske roke Kinova Mico. Predstavili smo kombiniran algoritem vodenja, ki združuje direktno preslikavo poze človeške roke v sklepne koordinate robota in regulacijo orientacije konca robota z inverzno kinematiko. Sistem smo implementirali v Matlabu, ROS okolju in simulacijskem okolju CoppeliaSim. Delovanje algoritma smo preizkusili na primeru naloge pobiranja, vodeno s človeško roko.

Keywords

teleoperiranje;inercialni senzorji;robotska roka;antropomorfizem;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2021
Typology:	2.09 - Master's Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[D. Ulbl]
UDC:	007.52:[165.325:531.1](043.2)
COBISS:	69193475
Views:	406
Downloads:	67
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Combined Method of Antropomorphic Motion Mapping from Human to Robot Arm
Secondary abstract:	In recent years the use of robots has spread to many new areas , where robots must operate in an environment designed for humans. One useful way of robotic arm control is gesture based teleoperation. In such cases it is desirable that the robot moves in an antropomorphic way and closely mimics human motion. In our project we used two Myo sensor bracelets to capture human arm motion, which was used to control a simulated model of Kinova Mico robotic arm. We presented a combined control algorithm composed from direct mapping of human arm poses to robotic joint coordinates and regulation of robotic end effector orientation via inverse kinematics calculation. The system was implemented in Matlab, ROS and CoppeliaSim simulation environment.. The algorithm performance was tested by executing a pick and place task controlled by human arm motion.
Secondary keywords:	teleoperation;inertial meausrement units;robotic arm;antropomorphism;Kinova Mico;Myo Armband;
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages:	X, 83 f.
ID:	13029778