Programs
- M. Tech. in Automotive Engineering -
- Fellowship In Interventional Pulmonology and Pulmonary Critical care - Fellowship
Publication Type : Conference Proceedings
Publisher : ICACCI-2015
Source : Proceedings of the International Conference on Advances in Computing, Communications and Informatics (ICACCI-2015), 216-221.
Url : https://ieeexplore.ieee.org/document/7275612
Campus : Chennai
School : School of Engineering
Department : Mechanical Engineering
Year : 2015
Abstract : In this paper, a new approach based on amalgamation of Kinect based motion sensing system and human arm kinematics is proposed for motion control of an industrial robot. The proposed approach makes use of the human arm motion during task demonstration to attain positional control over robot motion. To achieve this, the human arm configurations from demonstration workspace are mapped to the robot workspace by integrating the incremental inverse kinematic models of the human arm and robot with the Kinect. The proposed method is implemented on an industrial robot showing hand path imitation in real time. The performance of the proposed approach is evaluated on the basis of reproduction of the geometrical path and repeatability in task imitation. The experimental results obtained indicate that the method provides a consistent way to control robot motion by utilizing natural motions of the human arm. https://ieeexplore.ieee.org/document/7275612
Cite this Research Publication : Jha, A., Chiddarwar, S. S., and Andulkar, M. V. (2015) An integrated approach for robot training using Kinect and human arm kinematics, Proceedings of the International Conference on Advances in Computing, Communications and Informatics (ICACCI-2015), 216-221.