Desarrollo de un sistema de visión artificial mediante sensor Kinect, Arduino y comunicación WIFI para controlar un brazo robótico de 4gdl

Abstract

The objective of the project is to remotely control a robotic arm with four degrees of freedom using a Kinect sensor that allows the detection of human joints, thanks to these data, coordinate and joint analysis can be performed, also calculate the respective angle of rotation. This information will be sent to the ESP8266 module that will be connected to the Arduino board and through Wi-Fi communication and the MQTT communication protocol, the data can be received, and the respective movements made in the robotic arm. The MQTT protocol does not store data on a server, the data that is sent will only be used if it is being received, which provides speed in the transmission of data, and avoiding delays when performing a control on the movement required at the time. Thanks to the remote control, an operator is not required to be present in the work area, being able to carry out work in areas where safety standards are not optimal for a person. The project consists of two work areas, in the first the person who performs the movement must be in front of the Kinect sensor, preferably in a well-lit area and with either a short-sleeved or a single-color shirt. The sensor is connected to a computer through the adapter that has an input for the sensor and a USB output for the computer. The respective analysis and calculation of data is carried out on the PC and will be sent to the second work area where the Arduino that controls the robotic arm is located, this board is connected to the internet thanks to the Esp8266 Wifi module, in this area it is carried out the work to be done using the emulated movements of the first zone.