Publicação
Hands tracking and fuzzy speed control to improve human-robot collaboration
| Resumo: | The demand of collaborative robots has been growing in the industry in general, and with it the need for new ways to improve and make this work environment between human and robot safer and efficient. The objective of this work is to improve and make this environment safer and efficient by controlling the robot’s speed using a fuzzy approach and by getting track of the hand of the operator. For this purpose, the UR3 robot from Universal Robots and Leap Motion was used, which is a sensor capable of detecting the hand, as well as its movements, with the data obtained it was possible to create a system that has the robot’s speed as an output through fuzzy logic, and using the distance between the hand and the gripper obtained from the Leap Motion and UR3 data respectively as input to the fuzzy logic. With this it was possible to achieve satisfactory speed control, moreover, in all the tests performed the approach proved to be able to avoid collisions, and with the testing of different defuzzification methods in the fuzzy control, it was also possible to achieve smooth speed control for some of the methods used, with this in mind the system showed promise for improving Human-Robot Collaboration. |
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| Autores principais: | Borsoi, Alexandre Carelli |
| Assunto: | Human-robot collaboration Human-robot interaction Collaborative robotics Hand tracking Fuzzy controller |
| Ano: | 2022 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| Resumo: | The demand of collaborative robots has been growing in the industry in general, and with it the need for new ways to improve and make this work environment between human and robot safer and efficient. The objective of this work is to improve and make this environment safer and efficient by controlling the robot’s speed using a fuzzy approach and by getting track of the hand of the operator. For this purpose, the UR3 robot from Universal Robots and Leap Motion was used, which is a sensor capable of detecting the hand, as well as its movements, with the data obtained it was possible to create a system that has the robot’s speed as an output through fuzzy logic, and using the distance between the hand and the gripper obtained from the Leap Motion and UR3 data respectively as input to the fuzzy logic. With this it was possible to achieve satisfactory speed control, moreover, in all the tests performed the approach proved to be able to avoid collisions, and with the testing of different defuzzification methods in the fuzzy control, it was also possible to achieve smooth speed control for some of the methods used, with this in mind the system showed promise for improving Human-Robot Collaboration. |
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