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Title:Kombinirana metoda za antropomorfno preslikavo gibanja človeške roke na robotsko roko Kinova Mico z nosljivimi inercialnimi senzorji Myo : magistrsko delo
Authors:ID Ulbl, Domen (Author)
ID Hace, Aleš (Mentor) More about this mentor... New window
Files:.pdf MAG_Ulbl_Domen_2021.pdf (7,85 MB)
MD5: 754B55FA83C8365088E7F57672FB405E
PID: 20.500.12556/dkum/1717076c-eb0a-4c99-b837-238003782e84
 
Language:Slovenian
Work type:Master's thesis/paper
Typology:2.09 - Master's Thesis
Organization:FERI - Faculty of Electrical Engineering and Computer Science
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, Kinova Mico, Myo Armband
Place of publishing:Maribor
Place of performance:Maribor
Publisher:[D. Ulbl]
Year of publishing:2021
Number of pages:X, 83 f.
PID:20.500.12556/DKUM-79352 New window
UDC:007.52:[165.325:531.1](043.2)
COBISS.SI-ID:69193475 New window
Publication date in DKUM:30.06.2021
Views:919
Downloads:103
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FERI
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Licences

License:CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Link:http://creativecommons.org/licenses/by-nc-nd/4.0/
Description:The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.
Licensing start date:16.06.2021

Secondary language

Language:English
Title:Combined Method of Antropomorphic Motion Mapping from Human to Robot Arm
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.
Keywords:teleoperation, inertial meausrement units, robotic arm, antropomorphism, Kinova Mico, Myo Armband


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