Tele-manipulation of robot arm with smartphone

Author

Parga, Carlos ; Xiaoou Li ; Wen Yu

Author_Institution

Dept. de Comput., CINVESTAV-IPN, Mexico City, Mexico

fYear

2013

fDate

13-15 Aug. 2013

Firstpage

60

Lastpage

65

Abstract

In order to remotely control a robot with a small size, cheap and space sensing device, in this paper we develop a smart phone-based human machine interface (HMI). It uses the accelerometer and the gyroscope of the smart phone to generate six commands. By calculating the inverse kinematics, the reference angles are send to robot arm via Wi-Fi network. The novel HMI has many advantages over the others. The experiment results show that our HMI is convenient and effective for remote control of robot arm.

Keywords

accelerometers; dexterous manipulators; graphical user interfaces; gyroscopes; human-robot interaction; manipulator kinematics; smart phones; telerobotics; wireless LAN; Wi-Fi network; accelerometer; command generation; gyroscope; inverse kinematics; reference angles; remotely controlled robot; robot arm tele-manipulation; small-sized-cheap-space sensing device; smart phone-based HMI; smart phone-based human machine interface; Accelerometers; Gyroscopes; Joints; Kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Resilient Control Systems (ISRCS), 2013 6th International Symposium on

Conference_Location

San Francisco, CA

Type

conf

DOI

10.1109/ISRCS.2013.6623751

Filename

6623751