Kinect sensor implementation in FANUC robot manipulation

• Autorzy: Pajor M. , Miądlicki K , Saków M

Warianty tytułu

PL

Implementacja sterowania czujnikiem kinect dla robota FANUC S-420F

• Języki publikacji: EN

Abstrakty

EN

W artykule przedstawiono system sterowana robotem przemysłowym FANUC S-420F o sześciu stopniach swobody. Jest on oparty na śledzeniu gestów operatora i ich rozpoznawaniu za pomocą kontrolera ruchu Microsoft Kinect. Dzięki wykorzystaniu ręki operatora jako kontrolera uzyskano naturalny, intuicyjny sposób sterowania robotem, naśladujący codzienną czynność przynoszenia przedmiotów. Do realizacji systemu wykorzystano środowisko Matlab/Simulink z pakietem Kinect for Windows Runtime oraz biblioteki Kinect SDK & Developer Toolkit. Na potrzeby badań zaproponowanego systemu opracowano zestaw podstawowych gestów, które pozwalają na sterowanie robotem. Testy obejmowały wpływ na system m.in. takich parametrów, jak oświetlenie i szybkość wykonywania gestów przez operatora. W artykule przedstawiono uzyskane wyniki oraz omówiono zalety zaproponowanego systemu sterowania i potencjalne problemy.

Słowa kluczowe

EN

gesture control; Microsoft Kinect; FANUC S-420F; FANUC KAREL; machine vison

PL

Microsoft Kinect; sterowanie gestem; widzenie maszynowe; FANUC S-420F; Fanuc Karel

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Archives of Mechanical Technology and Automation
• Rocznik: 2014
• Tom: Vol. 34, no. 3
• Strony: 35--44
• Opis fizyczny: Bibliogr. 24 poz., rys., tab.

Twórcy

autor

Pajor M.

• Institute of Mechanical Technology, West Pomeranian University of Technology

autor

Miądlicki K

• Institute of Mechanical Technology, West Pomeranian University of Technology

autor

Saków M

• Institute of Mechanical Technology, West Pomeranian University of Technology

Bibliografia

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