Design of Imitative Control Modalities for a 3 Degree of Freedom Robotic Arm
| Autor: | Vignesh Ravikumar, S. V. Kanna, H. Gokul, H. Akshay Kumar |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference Modalities Modality (human–computer interaction) business.industry Computer science 05 social sciences ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Degrees of freedom (statistics) 02 engineering and technology Visual servoing 020901 industrial engineering & automation Inertial measurement unit 0502 economics and business Robot Computer vision Artificial intelligence business Robotic arm 050203 business & management |
| Zdroj: | 2020 4th International Conference on Computer, Communication and Signal Processing (ICCCSP). |
| DOI: | 10.1109/icccsp49186.2020.9315273 |
| Popis: | This research article focuses on enabling real-time Human-Robot Interaction (HRI) with two input control modalities designed to control a robotic arm. The robotic arm comprises of 3 Degrees of Freedom (DOF) and is controlled using the following 2 strategies: Inertial Sensor-glove and Image-based visual servoing. The Mathematical model of the given 3 DOF robotic arm was derived and the two proposed methods were explicitly designed for the same. The inertial sensor-glove, worn by the user, is embedded with inertial sensors that provide data to track the motion of the user's arm. The Image-based visual servoing modality is a mono-vision based approach which tracks the motion of a target object held by the user using a camera and operates similar to a mouse-pointer but in 3 dimensions. Fitts’s Targeting tasks were performed to analyse the performance of these Human-Robot Interactive input modalities. |
| Databáze: | OpenAIRE |
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