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
Miscellaneous
Electronic Resource
English
Human-computer interaction , Àrees temàtiques de la UPC::Informàtica::Automàtica i control , Interacció persona-ordinador , Robots industrials -- Sistemes de control , Industrial -- Control systems , Sistemes persona-màquina , Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura::Sensors i actuadors , Human-machine systems , Robots , Detectors , Àrees temàtiques de la UPC::Informàtica::Robòtica
DDC: | 629 |
Workspace fitting and control for a serial-robot motion simulator
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