Guided and collaborative kinematic control system for perception of the trajectories of the upper extremities
DOI:
https://doi.org/10.15649/2346030X.2394Keywords:
robot, guided, morphology, control, learningAbstract
This project studies the morphology of the human arm in order to build a robot capable of imitating the movements of the same, learning them and repeating them under a kinematic control routine, for this it was necessary to learn trajectories, which are obtained using artificial vision making use of the Kinect; from which the spatial coordinates of each joint are extracted, and subsequently processed by means of a mathematical model to obtain joint positions, calculate the kinematic model of the robot, and develop a routine for kinematic control that establishes the relationship between the speeds of the joints . The system allows the user to start learning their movements, and then simulate that learning on the virtual robot. As well as activating the physical robot to perform the learned movements. When comparing the results, it was determined that the standard deviation of the trajectories with and without control does not change to a greater extent; but the points that are within the deviation in the control part are more proportional, this because the stability of the trajectories improves when applying kinematic control.
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