论文信息 - Real-Time Predictive Control of an UR5 Robotic Arm Through Human Upper Limb Motion Tracking

Real-Time Predictive Control of an UR5 Robotic Arm Through Human Upper Limb Motion Tracking

This video demonstrates the authors' initial results on developing a real-time control system for an Universal Robot UR5 robotic arm through human motion capture with a visualization utility built on an open-source platform.

Almas Shintemirov | Bukeikhan Omarali | Tasbolat Taunyazov | Askhat Bukeyev

[1] Thomas Timm Andersen. Optimizing the Universal Robots ROS driver. , 2015 .

[2] Joris De Schutter,et al. Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty , 2007, Int. J. Robotics Res..

[3] Almas Shintemirov,et al. A novel low-cost 4-DOF wireless human arm motion tracker , 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[4] Manfred Morari,et al. Multi-Parametric Toolbox 3.0 , 2013, 2013 European Control Conference (ECC).

[5] M. R. De Gier. Control of a robotic arm: Application to on-surface 3D-printing , 2015 .