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http://dx.doi.org/10.5302/J.ICROS.2013.13.8011

A User Interface for Vision Sensor based Indirect Teaching of a Robotic Manipulator  

Kim, Tae-Woo (Computer Software Engineering, University of Science and Technology)
Lee, Hoo-Man (Intelligence and Robot Control Research Section, Eletronics and Telecommunications research institute)
Kim, Joong-Bae (Intelligence and Robot Control Research Section, Eletronics and Telecommunications research institute)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.10, 2013 , pp. 921-927 More about this Journal
Abstract
This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.
Keywords
indirect teaching; robotic manipulator; kinect; IMU sensor;
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Times Cited By KSCI : 1  (Citation Analysis)
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