The present thesis deals with the design and testing of an appropriate software interface that allows a user to control a robot using a Leap Motion Sensor while defining and keeping a safe workspace for the robot to operate. The Leap Motion Sensor is a small device able to sense human hands above it and to keep track of them. Hence, when controlling the robot, the user will feel an interesting touch-free control experience. Distinct control modes, such as linear commandment, joint-by-joint control or specular imitation have been studied and implemented. The basis for a future teaching mode, where the robot could remember user actions and play them accordingly to fulfill a complex task has also been settled. At the same time, a precise definition of the workspace, creating a safe environment for both the robot and the user, and the contemplation on how to avoid undesired situations have been consciously considered. ; Outgoing
Robot workspace sensing and control with Leap Motion Sensor
2013-01-01
Sonstige
Elektronische Ressource
Englisch
Àrees temàtiques de la UPC::Informàtica::Robòtica , Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura::Sensors i actuadors , Àrees temàtiques de la UPC::Informàtica::Automàtica i control , Robots , Industrial -- Control systems , Human-machine systems , Human-computer interaction , Detectors , Robots industrials -- Sistemes de control , Sistemes persona-màquina , Interacció persona-ordinador
DDC: | 629 |
Workspace fitting and control for a serial-robot motion simulator
Tema Archiv | 2008
|BASE | 2015
|BASE | 2015
|BASE | 2015
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