DiseƱo e implementaciĆ³n de telemanipulador utilizando reconocimiento de imagen
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Archivos
Fecha
2014
Profesor/a GuĆa
Facultad/escuela
Idioma
es
TĆtulo de la revista
ISSN de la revista
TĆtulo del volumen
Editor
Universidad AndrƩs Bello
Nombre de Curso
Licencia CC
Licencia CC
Resumen
A lo largo de la experiencia se trabajĆ³ con el norte puesto en la
creaciĆ³n y utilizaciĆ³n de un telemanipulador, el cual pudiera ser
controlado Ćŗnicamente utilizando un sistema sensorizado Kinect y un
microcontrolador Arduino.
Para cumplir dicho objetivo se procediĆ³ a crear un diseƱo
tridimensional capaz de soportar de buena manera las exigencias del
proyecto, asĆ como brindar la seguridad estructural necesaria para operar
de manera tal que no interfiriera negativamente en los resultados.
Posteriormente se creĆ³ un cĆ³digo de programaciĆ³n en C-Sharp para
lograr extraer las coordenadas tridimensionales de la posiciĆ³n de la mano
del usuario en el espacio, asĆ como realizar un seguimiento continuo de
la misma. Con estas coordenadas se le asigna al telemanipulador,
escalamiento de por medio, un punto a alcanzar. Para realizar dicha
acciĆ³n el brazo robĆ³tico debe posicionarse mediante cinemĆ”tica inversa.
En pos de lograr esto, se utilizĆ³ un cĆ³digo que realiza dicho proceso, el
cual tras ser alimentado con las coordenadas de la mano del operario,
determine una posiciĆ³n angular para cada servomotor.
Finalmente se procediĆ³ a recopilar datos derivados de estudios
realizados sobre el telemanipulador fmalizado. Estos datos devienen de
ejercicios de exactitud y precisiĆ³n para realizar movimientos repetitivos,
precisiĆ³n en cuanto a la escala que maneja el telemanipulador con
respecto al movimiento del usuario, y ejercicios de seguimiento en
patrones para comparar cuan fidedigno es finalmente el producto
realizado.
The objective of this work is to create and develop a teleoperator, using only a Kinect, and an Arduino microcontrol1er. To accomplish that goal, we proceed to create a three-dimensional design, which should be able to support the requirements of the project as much, as provide tbe structural integrity needed to operate without interfering in the results. Afterwards it was created a C-Sharp programming code to extract the three-dimensional coordinates of the users hand and realizing a continuous tracking of it. These coordinates would be assigned, after scaling the values, as tbe point to be reached by the teleoperator. To accomplisb tbis movement, the remate manipulator, should move the servomotors by inverse kinematics. In order to execute this, an algorithm developed in Arduino, was employed. The Arduino code works by receiving the hand coordinates, after processing this information it hands the angular position of each servo in the kinematic e ha in. The tmal task was to collect de data given by the results of the teleoperator, in arder to tmd out how reliable the final product is. These studies are conformed by exactitude and precision tests in repetitive movements, the manipulators precision regarding tiny movements, and finally how well could the mechanic arm follow the user.
The objective of this work is to create and develop a teleoperator, using only a Kinect, and an Arduino microcontrol1er. To accomplish that goal, we proceed to create a three-dimensional design, which should be able to support the requirements of the project as much, as provide tbe structural integrity needed to operate without interfering in the results. Afterwards it was created a C-Sharp programming code to extract the three-dimensional coordinates of the users hand and realizing a continuous tracking of it. These coordinates would be assigned, after scaling the values, as tbe point to be reached by the teleoperator. To accomplisb tbis movement, the remate manipulator, should move the servomotors by inverse kinematics. In order to execute this, an algorithm developed in Arduino, was employed. The Arduino code works by receiving the hand coordinates, after processing this information it hands the angular position of each servo in the kinematic e ha in. The tmal task was to collect de data given by the results of the teleoperator, in arder to tmd out how reliable the final product is. These studies are conformed by exactitude and precision tests in repetitive movements, the manipulators precision regarding tiny movements, and finally how well could the mechanic arm follow the user.
Notas
Tesis (Ingeniero en AutomatizaciĆ³n y RobĆ³tica)
Palabras clave
FormaciĆ³n de ImĆ”genes Tridimensionales, RobĆ³tica