Accelerometer-Based Control of an Industrial Robotic Arm

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

Neto, P (Autor) Outra; Pires, JN (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2

Páginas: 408-413

18th IEEE International Symposium on Robot and Human Interactive Communication

Toyama, JAPAN, SEP 27-OCT 02, 2009

Indexação

ISI Web of Knowledge - 44 Citações

Scopus - 64 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-003-S3B

DOI: 10.1109/roman.2009.5326285

Abstract (EN): Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6