Gesture Based Control of a Simulated Robot Manipulator

2015 ◽  
Author(s):  
Sukhdeep S. Dhami ◽  
Ashutosh Sharma ◽  
Rohit Kumar ◽  
Parveen Kalra
Keyword(s):  
Inverse Kinematics ◽  
Graphical Model ◽  
Robot Manipulator ◽  
Reference Signal ◽  
Human Robot Interaction ◽  
Human Hand ◽  
Hand Gestures ◽  
Matlab Simulink ◽  
Robot Wrist ◽  
Forward And Inverse Kinematics

The number of industrial and household robots is fast increasing. A simpler human-robot interaction is preferred in household robotic applications as well as in hazardous environments. Gesture based control of robots is a step in this direction. In this work, a virtual model of a 3-DOF robotic manipulator is developed using V-Realm Builder in MATLAB and the mathematical models of forward and inverse kinematics of the manipulator are coded in MATLAB/Simulink software. Human hand gestures are captured using a smartphone with accelerometer and orientation sensors. A wireless interface is provided for transferring smartphone sensory data to a laptop running MATLAB/Simulink software. The hand gestures are used as reference signal for moving the wrist of the robot. A user interface shows the instantaneous joint angles of robot manipulator and spatial coordinates of robot wrist. This simple yet effective tool aids in learning a number of aspects of robotics and mechatronics. The animated graphical model of the manipulator provides a better understanding of forward and inverse kinematics of robot manipulator. The robot control using hand gestures generates curiosity in student about interfacing of hardware with computer. It may also stimulate new ideas in students to develop virtual learning tools.

scholarly journals Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Seemal Asif ◽  
Philip Webb
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
Inverse Kinematic Problem ◽  
Model Study ◽  
Spherical Wrist ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

A Parallel, Four Degree-of-Freedom Robotic Wrist

1995 ◽  
Author(s):  
Robert J. Salerno ◽  
Stephen L. Canfield ◽  
Anthony J. Ganino ◽  
Charles F. Reinholtz
Keyword(s):  
Inverse Kinematics ◽  
Parallel Architecture ◽  
High Strength ◽  
Degree Of Freedom ◽  
Real Time Control ◽  
Time Control ◽  
Robot Wrist ◽  
Forward And Inverse Kinematics ◽  
Three Degree Of Freedom ◽  
Robotic Wrist

Abstract Kinematic considerations are presented for a parallel, four degree-of-freedom robot wrist resembling the Clemens coupling, a constant-velocity joint first described in his 1872 patent. In its new form as a wrist, this device provides general orientational mobility as well as axial displacement through a plunge motion. A possibly more important hybrid of this wrist is identified as an artificially constrained, spherical, three degree-of-freedom pitchyaw-roll wrist that can easily be derived from this new concept. Because of its parallel architecture, the new wrist design displays favorable attributes including high strength-to-weight and stiffness-to-weight ratios, a large workspace, and an open center construction. Closed-form forward and inverse kinematics of the wrist are derived for both the three and four degree-of-freedom configurations, thereby making it a likely candidate for real-time control. Workspace plots are also presented that demonstrate the dexterity of the proposed wrist.

scholarly journals HANDS: an RGB-D dataset of static hand-gestures for human-robot interaction

Data in Brief ◽  
2021 ◽  
Vol 35 ◽  
pp. 106791
Author(s):  
Cristina Nuzzi ◽  
Simone Pasinetti ◽  
Roberto Pagani ◽  
Gabriele Coffetti ◽  
Giovanna Sansoni
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Hand Gestures

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

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