Application of human arm kinematics for robot path programming using imitation

摘要

This article presents the framework of a novel approach for real time imitation of the human arm movements by an industrial robot. The approach presented in this work, integrates the kinematics of the human arm structure with the human arm motion tracking system to control the kinematics of the robot for real time imitation of the demonstrated task. As the conventional robot programming methods are complex and skill dependent, the proposed approach utilizes the human arm motion itself to program the robot for accomplishing the task, thus reducing the complexity involved in robot programming. The feasibility of the developed approach is demonstrated by experimental results showing the imitation of the human hand path during task execution.