Abstract

DUSSAN MUNOZ, Diego Manuel; BAUZANO NUNEZ, Enrique  and  VIVAS ALBAN, Oscar Andrés. Movement of a PA10 Robot Through a Natural Interface. Ing. Desarro. [online]. 2020, vol.38, n.2, pp.364-381.  Epub Oct 21, 2021. ISSN 0122-3461.  https://doi.org/10.14482/inde.38.2.629.89.

This article shows the implementation of a natural interface, and its system, for the movement of an industrial PA10 robot. In order to evaluate the usefulness of this type of interfaces and the difference that occurs between the paths entered and tho se executed by the robot through the use of its own development methodology. First, the mathematical models of the PA10 ro bot were obtained in order to simulate its movement in the Unity 3D graphics engi ne. Subsequently, the Leap Motion capture device was added as the main element of the natural interface, and from it, the movement of the user’s palm during the execution of various trajectories was carried out, both in the software simulation as in the real robot. The results found a fairly low tracking error between the desired setpoints and the actual trajectories obtained from the PA10 robot.

Keywords : gesture capture; Leap Motion device; natural interface; PA10 robot; robot control; track tracking.

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