Control of the manipulator position with the kinect sensor
Authors:
- 1 October 2017
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2991-2996
Abstract
This paper introduces a manipulator-position control procedure for which the Kinect sensor is used with 3D-modeling data. The system consists of the Manipulator Control software and the Kinect sensing software. The Manipulator Control software is used to control the AT2, an industrial 6-DOF manipulator. The Kinect sensing software is used to obtain the positional data of the object whose 3D-model data is registered in advance. The manipulator-control software obtains the position data from the Kinect sensing software using a Windows message. A median filter is used to remove the errors from the positional data. The rotational matrix is calculated for the coordinate transformation. The difference between the scales and translations of the axes are compensated by using the coordinates of both systems at two different positions. Real-system experiment results are presented to prove the validity of the proposed method.Keywords
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