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Title:Intuitivno vodenje robotske roke s kretnjami
Authors:Ulbl, Domen (Author)
Hace, Aleš (Mentor) More about this mentor... New window
Files:.pdf UN_Ulbl_Domen_2018.pdf (1,45 MB)
 
Language:Slovenian
Work type:Diploma project paper (mb13)
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:Pomembno področje razvoja v robotiki so novi pristopi k učenju robotov, ki bi njihovo uporabo približali ljudem brez strokovnega znanja iz robotike. V Projektnem delu je predstavljen princip vodenja robotske roke na podlagi kretenj rok uporabnika. Za zajem kretenj rok smo izbrali senzorski zapestnici Myo Armband, ki nam nudita meritve pospeška, kotne hitrosti in smeri magnetnega polja, iz katerih algoritem senzorske fuzije izračuna orientacijo v prostoru. V projektu smo predstavili možno teoretično razlago algoritma združevanja meritev za pridobivanje orientacije. Na podlagi informacije o orientaciji obeh zapestnic smo razvili kinematični model človeške roke in ga simulirali v simulacijskem programu V-REP. Algoritem vodenja s pomočjo kretenj in kinematičnega modela človeške roke smo preizkušali na simulaciji robotske roke Kinova Mico. Rezultate simulacije vodenja robotske roke s kretnjami smo predstavili v obliki videa.
Keywords:C++, kinematika, Kinova, kretnje, Mico, magnetometer, Myo Armband, pospeškometer, simulacija, robotska roka, vodenje, žiroskop
Year of publishing:2018
Publisher:[U. Domen]
Source:Maribor
UDC:681.5
COBISS_ID:22117654 Link is opened in a new window
License:CC BY-NC-SA 4.0
This work is available under this license: Creative Commons Attribution Non-Commercial Share Alike 4.0 International
Views:270
Downloads:24
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FERI
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Secondary language

Language:English
Title:Gesture based intuitive Control of a Robotic Arm
Abstract:In this project we present a method for intuitive control of a collaborative robotic arm using hand and arm gestures performed by the user. The proposed system uses two Myo Armband units to capture the motion of the arm and a personal computer to process the measurements and simulate the motion of the Kinova Mico manipulator in the V-REP simulation environment. Arm motion is captured by recording orientation of both Myo Armband units. A mathematical model of the human arm is built in order to compute the target position for the robot to reach. The resulting simulation is presented in video form as well.
Keywords:accelerometer, control, C++, gestures, gyroscope, kinematics, Kinova, Mico, magnetometer, Myo, simulation, robotic arm, robot


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