OPTIMAL TRAJECTORY PLANNING OF ROBOTIC ARM

Abstract

Robot manipulator teleoperation by human operator is one of the important and nec-essary task,, when human operator presence at robot manipulator site is undesirable or hazardous. There are many techniques available to preform these type of tasks using markers attached to the human operator hand. Also, in marker-less tracking, stereo vision is implemented using two or more cameras to get 3-dimensional (3D) position of the human operator hand. With the launch of Kinect sensor by Microsoft, understanding environment in 3D and acquiring 3D reality become simple. Kinect sensor become more popular in marker-less tracking applications. In this work, we have implemented one of such application of this Kinect RGB-D camera for Robot manipulator teleoperation. For 3D hand tracking, RGB and depth data from Kinect sensor are combined to get 3D co-ordinates of hand position. These co-ordinates are transformed into robot manipulator co-ordinate system. Intellitek's 5 degree of free-dom SCORBOT-ER 4u robot manipulator is used to perform teleoperation. Further, for smooth trajectory implementation by robot manipulator, 3D trajectory of hand is filtered using Kalman filter in real time.