Development of Kinect based robot control system with obstacle avoidance capability

Obstacle avoidance has been a developing field of research in robotics for many years. Different sensors were used in the past to obtain information on the obstacles. In this project, obstacle information obtained using Microsoft Kinect sensor was used to design a robotic control system capable of a...

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主要作者: Chew, Boon Jin
其他作者: Cheah Chien Chern
格式: Final Year Project
語言:English
出版: 2016
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在線閱讀:http://hdl.handle.net/10356/67877
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spelling sg-ntu-dr.10356-678772023-07-07T17:21:01Z Development of Kinect based robot control system with obstacle avoidance capability Chew, Boon Jin Cheah Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Obstacle avoidance has been a developing field of research in robotics for many years. Different sensors were used in the past to obtain information on the obstacles. In this project, obstacle information obtained using Microsoft Kinect sensor was used to design a robotic control system capable of avoiding them. The control system is tested on a Selective Compliance Assembly Robot Arm (SCARA) industrial robot. Artificial Potential Field and Region Control are used to develop the torque required to move the robot’s end effector to the desired position while avoiding any obstacles that are within the robot workspace. Tangential potential field is also used to ensure that the end effector will go about the obstacle smoothly. The final program is capable of handling circular and rectangular obstacles. This report will also cover the results and observations made during the course of testing, the challenges encountered, and measures taken to overcome them. Bachelor of Engineering 2016-05-23T06:03:27Z 2016-05-23T06:03:27Z 2016 Final Year Project (FYP) http://hdl.handle.net/10356/67877 en Nanyang Technological University 121 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Chew, Boon Jin
Development of Kinect based robot control system with obstacle avoidance capability
description Obstacle avoidance has been a developing field of research in robotics for many years. Different sensors were used in the past to obtain information on the obstacles. In this project, obstacle information obtained using Microsoft Kinect sensor was used to design a robotic control system capable of avoiding them. The control system is tested on a Selective Compliance Assembly Robot Arm (SCARA) industrial robot. Artificial Potential Field and Region Control are used to develop the torque required to move the robot’s end effector to the desired position while avoiding any obstacles that are within the robot workspace. Tangential potential field is also used to ensure that the end effector will go about the obstacle smoothly. The final program is capable of handling circular and rectangular obstacles. This report will also cover the results and observations made during the course of testing, the challenges encountered, and measures taken to overcome them.
author2 Cheah Chien Chern
author_facet Cheah Chien Chern
Chew, Boon Jin
format Final Year Project
author Chew, Boon Jin
author_sort Chew, Boon Jin
title Development of Kinect based robot control system with obstacle avoidance capability
title_short Development of Kinect based robot control system with obstacle avoidance capability
title_full Development of Kinect based robot control system with obstacle avoidance capability
title_fullStr Development of Kinect based robot control system with obstacle avoidance capability
title_full_unstemmed Development of Kinect based robot control system with obstacle avoidance capability
title_sort development of kinect based robot control system with obstacle avoidance capability
publishDate 2016
url http://hdl.handle.net/10356/67877
_version_ 1772828879333883904