Application of visual system for hand control of 3D manipulator

• Autorzy: Milecki A. , Sawicki Ł.

Warianty tytułu

PL

Sterowanie manipulatorem w trzech wymiarach za pomocą gestów

• Języki publikacji: EN

Abstrakty

EN

The article concerns controlling of a 3-axles manipulator by hand movement, recognized by visual system. In the investigations the Kinect sensor was used, which enabled the acquiring of 2D hand images with depth parameter. The OpenCV library was used for recognition of hand position in a real-time computer based control system. The control program was written in C++ language, which allows the processing of 15 frames per second. The proposed control system enabled to operate the manipulator with the same frequency.

PL

Artykuł skupia się na sterowaniu 3 osiowego manipulatora wykorzystując obraz głębi pozyskany z sensora Kinect oraz bibliotekę OpenCV, przeznaczoną głównie do obróbki obrazu w czasie rzeczywistym. Opracowany program został napisany w C++ i pozwala na operowanie manipulatorem z prędkością 15 FPS. Komunikacja ze sterownikiem manipulatora została zapewnioną za pomocą kabla USB.

Słowa kluczowe

EN

visual control; manipulator; control; OpenCV; gesture recognition

PL

sterowanie wizyjne; manipulator; sterowanie; opencv; rozpoznawanie gestów

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Archives of Mechanical Technology and Materials
• Rocznik: 2015
• Tom: Vol. 35
• Strony: 92--100
• Opis fizyczny: Bibliogr. 15 poz., rys.

Twórcy

autor

Milecki A.

• Institute of Mechanical Technology, Poznan University of Technology

autor

Sawicki Ł.

• Institute of Mechanical Technology, Poznan University of Technology

Bibliografia

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