Master-slave system using Kinect and an industrial robot for teleoperations

摘要

In this paper, we report the integration of a Kinect sensor device with a robotic arm Kuka KR6 as a master-slave communication for applications of teleoperation and bioengineering. The Kinect device captures the position of the user's right hand, filters its resulting data and detects its movement using Haar wavelets. This data is then sent to the Kuka KR6 controller and it moves using forward kinematics. A series of tests were implemented to evaluate the accuracy of the slave system position compared to the user's right hand position using the Pearson correlation coefficient method. It resulted in a very strong correlation between them.