Resumen

BUITRAGO SALAZAR, Germán Darío  y  RAMOS SANDOVAL, Olga Lucía. Teleoperated Control Interface of two industrial robotic arms using a human visual marker. EAC [online]. 2016, vol.37, n.2, pp.28-38. ISSN 1815-5928.

Cooperative work with robotics has allowed closer interaction among users who control devices, with the working environment of the robots. For this, we have developed interfaces with motion control and with feedback of variables from their workspaces. However, the mechanical systems used for human-robot interaction restrict the operator movement, reducing the space to draw the path that each robotic arm must make. A solution to this problem is to implement systems in the workstation in order to capture visually the positions taken by the operator. This paper presents an interface to control remotely, two industrial robotic arms located in adjacent workcells, using the human body as a movement visual marker. For this, we used a Kinect placed in the master station, which captures the skeleton of the user in order to control the position of the robot with the hands. To decrease the error and the damping of the path were used their kinematic models and PI controllers. The communication between the Slave system and master system is performed by an Ethernet protocol. The results of this study demonstrate the feasibility of this method to control robots in real time, with high degree of similarity between the path described and the replicated with delay times of less than 0.8 seconds and with fewer limitations on freedom of movement Operator.

Palabras clave : Machine vision; Teleoperated control; Human visual marker; Master-Slave system.

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