Sistema de control cinemático guiado y colaborativo por percepción de las trayectorias de las extremidades superiores

Mauro Leandro Ibarra-Peñaranda; Oscar Manuel Duque-Suárez; Maria Carolina  Duque-Suarez

doi:10.15649/2346030X.2394

Authors

Mauro Leandro Ibarra-Peñaranda Universidad de Pamplona
Oscar Manuel Duque-Suárez Servicio Nacional de Aprendizaje SENA
Maria Carolina Duque-Suarez Servicio Nacional de Aprendizaje SENA

DOI:

https://doi.org/10.15649/2346030X.2394

Keywords:

robot, guided, morphology, control, learning

Abstract

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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