DETERMINATION OF POSITION AND ORIENTATION OF HUMAN WRISTS USING IMU AND CAMERA TO MOVE ROBOT YASKAWA SIA10D

• Main Author: Taufiqi Rachmatullah, Andrean
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/54067
• Institution: Institut Teknologi Bandung

The development of technology has lead a robotics industry to improve in terms of quality, efficiency, and safety. However, moving a robot requires programming that is timeconsuming and does not respond according to changes in the environment. This is unlike humans that can perform complex movements and quickly respond to changes in the surroundings. Therefore, a system that can integrate the human’s complex movements with the robot’s maneuver is designed. After defining the design objectives, a literature review and survey of the tool that can estimate the position and orientation of the human wrist is conducted. In the design process, the Inertial Measurement Unit is used to determine the orientation and position of the human wrist. Also, then Kinect is used to better estimate the position of the human wrist. Space Transformation is conducted to make frame of hand equal to frame of the robot. After that experiment is conducted with simple hand movement. Based on the experiment results, the estimated of position and orientation of the human wrist can be estimated using IMU and Kinect. However, the data of position from IMU is not as good as the data from Kinect because the noise of measurement from the accelerometer and magnetometer cannot be compensated completely. Also, The Filter Madgwick used in this experiment assumes that accelerometer and magnetometer only measure the earth's gravity and magnetic field.