Desarrollo de un sistema de teleoperación de brazo robótico mediante Kinect para la emulación del movimiento del brazo de un operador

Abstract

Currently, the manipulation of articulated robotic arms poses significant challenges due to the robustness of movements and communication delays, which can hinder operators' tasks in environments where precision is crucial. To address this issue, a teleoperation system has been developed for a KUKA KR10 robotic arm, using the Kinect sensor to replicate operator arm movements with increased fluidity and improved response times. To implement this system, communication is established via a crossover network cable between the computer and the robot controller. C3Bridge is utilized on the KRC4 controller as a bridge to access the KUKA robot. Additionally, RoboDK software serves as an intermediary to transmit Kinect-captured movements and execute them on the actual robot through a program running cyclically on the robot. The integration of software and hardware results in an effective teleoperation system that replicates operator arm movements. Validation of this system is achieved through pick and place tests conducted with the robot, enabling smoother execution of robotic arm movements.