Markerless gesture-based motion control and programming of industrial robots

摘要

Gesture-based control systems for industrial robotics benefit from a natural form of human machine interaction. Among the high costs of such systems, there are high requirements for safety, robustness of the gesture recognition and general applicability in the industrial environment. Novel consumer electronic sensors provide a robust recognition, reliability and adequate accuracies at low costs. We present our work on gesture-based control and programming with an emphasis on a natural definition of complex trajectories. Besides standard online programming methods, we introduce a programming technique, which enables the worker to define a movement by his body parts, e.g. the hand. Imitating the human movement, the robot can move its end-effector relatively from a starting point.