Motion Programming of SCORBOT ER-4u Using Fusion of Robot Kinematics and Inertial Sensor

被引：2

作者：

Jha, Abhishek ^{[1
]}

Chiddarwar, Shital S. ^{[1
]}

Alakshendra, Veer ^{[1
]}

机构：

[1] Visvesvaraya Natl Inst Technol, Dept Mech Engn, Robot & FMS Lab, Nagpur, Maharashtra, India

来源：

CAD/CAM, ROBOTICS AND FACTORIES OF THE FUTURE | 2016年

关键词：

Kinect; Inertial sensor; Kinematics; Imitation; Motion control;

D O I：

10.1007/978-81-322-2740-3_26

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper addresses the framework of a novel approach for the real time robot motion control. The proposed approach amalgamates the kinematics of the human arm along with the Kinect based motion capture system and the inertial sensor to control the robot motion in a real time. The feasibility of the devised strategy is shown by the experimental results for hand path imitation problem. The performance of the approach is evaluated on the basis of geometrical similarity obtained during hand path imitation by the robot end effector in real time imitation scenario.

引用

页码：263 / 273

页数：11