Development of human-guided robot system using kinect sensor

• Main Author: Teo, Siew Hwi
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/74345
• Institution: Nanyang Technological University

As technologies are getting more and more advanced nowadays, people is increasingly reliant on robots for many purposes. There are many different types of commercial or household robots available in the market now. Different robots serve different purposes depending on requirements needed. Sony SCARA (Selectively Compliance Articulated Robot Arm) is one of them and will be used in this project. In this project, a human-guided robot system will be developed. A human can react intelligently to unforeseen changes in the real world while a robot is able to perform precision tasks or carry heavy loads that are beyond the capability of human. A control method will be developed to take advantage of both the human cognitive decision making and the robot’s strength to perform tasks. In situations where human control action is required, the control objective can be scaled up to allow more flexibility. In cases where precision is required or when human intervention is not expected, the control objective can be scaled down to allow the robot to take control. Kinect sensor will be used as an interface for communication between human and robot. The control method will be implemented on an industrial robot (Sony SCARA industrial robot).