A wearable IMU system for flexible teleoperation of a collaborative industrial robot

Škulj, Gašper (avtor), Vrabič, Rok (avtor), Podržaj, Primož (avtor)

Increasing the accessibility of collaborative robotics requires interfaces that support intuitive teleoperation. One possibility for an intuitive interface is offered by wearable systems that measure the operatorʼs movement and use the information for robot control. Such wearable systems should preserve the operatorʼs movement capabilities and, thus, their ability to flexibly operate in the workspace. This paper presents a novel wireless wearable system that uses only inertial measurement units (IMUs) to determine the orientation of the operatorʼs upper body parts. An algorithm was developed to transform the measured orientations to movement commands for an industrial collaborative robot. The algorithm includes a calibration procedure, which aligns the coordinate systems of all IMUs, the operator, and the robot, and the transformation of the operatorʼs relative hand motions to the movement of the robot%s end effector, which takes into account the operatorʼs orientation relative to the robot. The developed system is demonstrated with an example of an industrial application in which a workpiece needs to be inserted into a fixture. The robotʼs motion is compared between the developed system and a standard robot controller. The results confirm that the developed system is intuitive, allows for flexible control, and is robust enough for use in industrial collaborative robotic applications.

• Jezik: Angleški jezik
• Ključne besede: wearable systems, teleoperation, industrial robots
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FS - Fakulteta za strojništvo
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2021
• Št. strani: Str. 1-19
• Številčenje: Vol. 21, iss. 17, art. 5871
• PID: 20.500.12556/RUL-130802
• UDK: 007.52(045)
• ISSN pri članku: 1424-8220
• DOI: 10.3390/s21175871
• COBISS.SI-ID: 76739587
• Datum objave v RUL: 17.09.2021

Gradivo je del revije

• Naslov: Sensors
• Skrajšan naslov: Sensors
• Založnik: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.
• Začetek licenciranja: 31.08.2021

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: inercialne merilne enote, teleoperacija, industrijska robotika

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0270
• Naslov: Proizvodni sistemi, laserske tehnologije in spajanje materialov