Diseño e implementación de un sistema de escaneo basado en visión artificial para la imitación del movimiento del brazo humano en el robot KUKA KR5-2 ARC HW.

Abstract

This article describes the design and implementation of a scanning system based on artificial vision to replicate human arm movement in the KUKA KR5-2 ARC HW robot. Using a webcam and Mediapipe with OpenCv, it processes images to detect reference points. The performance is evaluated on axes A1, A2, and A3, showing good results on A2 and A3 but with errors on A1, suggesting the use of a second camera to stabilize "z". This system could significantly improve efficiency in industrial applications.