TY - GEN
T1 - Hand Gesture Recognition and Tracking Control for a Virtual UR5 Robot Manipulator
AU - Chico, Alex
AU - Cruz, Patricio J.
AU - Vásconez, Juan Pablo
AU - Benalcázar, Marco E.
AU - Álvarez, Robin
AU - Barona, Lorena
AU - Valdivieso, Ángel Leonardo
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/10/12
Y1 - 2021/10/12
N2 - Human-machine interfaces (HMIs) have received an increased attention during the past decades, specially due to the use of robots in many fields of the industry. In this paper, we employ a hand gesture recognition (HGR) system and the inertial measurement unit (IMU) integrated in the Myo Armband sensor as a HMI to control the position and orientation of a virtual six-degree-of-freedom (DoF) UR5 robot. As part of the HMI, this work also focuses on solving the trajectory tracking problem for the UR5 robot using two different control strategies: a minimum norm PID and a controller based on linear algebra. Both controllers are designed from the UR5 kinematic model. Finally, we test and compare their performance by computing their IAE performance criterion and the position errors obtained from two experiments: tracking pre-defined input trajectories and commanding the virtual robot by the HGR system plus the Myo Armband's IMU signals.
AB - Human-machine interfaces (HMIs) have received an increased attention during the past decades, specially due to the use of robots in many fields of the industry. In this paper, we employ a hand gesture recognition (HGR) system and the inertial measurement unit (IMU) integrated in the Myo Armband sensor as a HMI to control the position and orientation of a virtual six-degree-of-freedom (DoF) UR5 robot. As part of the HMI, this work also focuses on solving the trajectory tracking problem for the UR5 robot using two different control strategies: a minimum norm PID and a controller based on linear algebra. Both controllers are designed from the UR5 kinematic model. Finally, we test and compare their performance by computing their IAE performance criterion and the position errors obtained from two experiments: tracking pre-defined input trajectories and commanding the virtual robot by the HGR system plus the Myo Armband's IMU signals.
KW - Hand Gesture Recognition
KW - Human Robot Interface
KW - Movement Tracking
KW - Virtual Robotic Manipulator
UR - http://www.scopus.com/inward/record.url?scp=85119401223&partnerID=8YFLogxK
U2 - 10.1109/ETCM53643.2021.9590677
DO - 10.1109/ETCM53643.2021.9590677
M3 - Conference contribution
AN - SCOPUS:85119401223
T3 - ETCM 2021 - 5th Ecuador Technical Chapters Meeting
BT - ETCM 2021 - 5th Ecuador Technical Chapters Meeting
A2 - Huerta, Monica Karel
A2 - Quevedo, Sebastian
A2 - Monsalve, Carlos
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE Ecuador Technical Chapters Meeting, ETCM 2021
Y2 - 12 October 2021 through 15 October 2021
ER -