Human-guided robot system using kinect sensor

• Main Author: Lam, Alvin Sheng Long
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/67752
• Institution: Nanyang Technological University

This project involves the development of a human-robot interaction system which integrates the modern computer vision technology of an Xbox Kinect sensor with a Sony SRX-4CH SCARA robot arm. The Xbox Kinect is able to detect the presence and location of a human while encoders on the robot arm can be used to determine the position of the arm joints. A computer will be used as an intermediary to calculate how close the human is to the robot joints and control the speed of the robot depending on the proximity of the human to the robot. This report will look at the system workflow of this human-robot interaction system, providing details on how the different modules communicate and the algorithms required to control the system.