ROS를 이용한 사용자 동작 인식 기반 로봇 팔 제어 (User Motion Recognition Based Robot Arm Control Using ROS)

서지정보

· 발행기관 : 한국기계가공학회
· 수록지 정보 : 한국기계가공학회지 / 22권 / 10호 / 29 ~ 35페이지
· 저자명 : 장정서, 박민재, 김민서, 이주형, 손정우

초록

In this study, a motion recognition-based remote-control technique for a robot operating system implemented in arobot arm is proposed; additionally, the system can reproduce this recognized motion repeatedly to allow the robotto perform repetitive tasks without additional guidance. Using the inertial measurement unit (IMU) and 8-channelelectromyogram (EMG) sensor built into the commercial armband MYO, the user's arm movement and handmovement are recognized, respectively. The movement of the 4-DOF slave robot arm is controlled by the movementof the user's recognized arm motion, and the 1-DOF movement of the gripper is controlled using the recognizedhand motion. The control process for the robot arm according to the user's demonstration motion is memorized sothat the robot can repeatedly perform the same motion. It is confirmed that, through the proposed technique, theworking motion of the robot can be intuitively implemented and used in various fields without additional coding.

영어초록

In this study, a motion recognition-based remote-control technique for a robot operating system implemented in arobot arm is proposed; additionally, the system can reproduce this recognized motion repeatedly to allow the robotto perform repetitive tasks without additional guidance. Using the inertial measurement unit (IMU) and 8-channelelectromyogram (EMG) sensor built into the commercial armband MYO, the user's arm movement and handmovement are recognized, respectively. The movement of the 4-DOF slave robot arm is controlled by the movementof the user's recognized arm motion, and the 1-DOF movement of the gripper is controlled using the recognizedhand motion. The control process for the robot arm according to the user's demonstration motion is memorized sothat the robot can repeatedly perform the same motion. It is confirmed that, through the proposed technique, theworking motion of the robot can be intuitively implemented and used in various fields without additional coding.

참고자료

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