İnsan-robot etkileşiminin biyomimetik yaklaşımla sağlanması

Year 2019, Volume: 25 Issue: 2, 188 - 198, 22.04.2019

Gökhan Gelen , Sinan Özcan

Abstract

Bu
çalışmada, insan kol ve el hareketlerinin taklit edilmesiyle insan-robot
etkileşimini sağlayan biyomimetik bir yaklaşım sunulmuştur. İnsan kol
hareketleriyle robotun aynı doğrultuda hareket etmesi sağlanmış ve el
hareketleri ile de robot tutucusunun kontrolü sağlanmıştır. Robot hareketi
için; ilk olarak insan elinin, bel hizasında orijin noktası olarak belirlenen
noktaya olan konumunu verecek kinematik model oluşturulmuştur. Modellemede,
insan kolu, ön kol, pazı ve omuz olmak üzere üç ayrı uzuv olarak incelenmiştir.
Omuza, pazıya ve ön kola yerleştirilen algılayıcılar ile dönüş açısı bilgileri
elde edilmiş ve uzuv uzunlukları ile birlikte matematiksel modelde
kullanılmıştır. Bu hesaplamalarda rotasyon kinematiği ve hareket kinematiği
matrisleri kullanılmıştır. Tutucu kontrolü için ise bünyesinde EMG sensörleri
bulunduran MYO kol bandı kullanılmıştır. Bu kol bandı üzerindeki EMG sensörleri
ile kol kaslarından parmak hareketleri algılatılmıştır ve bu hareketler
doğrultusunda pnömatik tutucu kontrol edilmiştir.  Uygulamalarda 6-eksen robot kolu
kullanılmıştır. Hesaplanan konum verileri ve tutucu bilgisi ethernet üzerinden
TCP/IP protokolü ile robot denetleyicisine aktarılmaktadır. Robotun hesaplanan
konuma gitmesini ve tutucu kontrolünü sağlayan kod oluşturularak robota
aktarılmıştır.  Yapılan testlerde,
endüstriyel robotun insan kol ve el hareketleri ile başarılı biçimde kontrol
edildiği gözlemlenmiştir.

Keywords

Endüstriyel robotlar, Biyomimetik kontrol, Rotasyon ve hareket kinematiği, Tutucu kontrolü, İnsan-robot etkileşimi

Providing the human-robot interaction with biomimetic approach

Abstract

In
this work, a biomimetic approach to provide human-robot interaction by
mimicking the motion of human arm and fingers is presented. The movement of an
industrial robot is performed by human arm movement in same direction and the
control of gripper is also performed by hand movements. For the movement of
robot, as a first step, a kinematic model is obtained to give the position of
the human hand to the point determined as the origin point in the waist line.
In the modelling, the human arm is considered as three limp that are forearm,
biceps and shoulder. The rotational angles are obtained from sensors placed in
the shoulder, biceps, and forearm, are used in the mathematical model with limb
lengths. Rotation kinematics and kinematics matrices are used in these
calculations. For the gripper control, a MYO armband with EMG sensors is used.
With this EMG sensor on the armband, finger movements are detected from the arm
muscles and the pneumatic gripper was controlled in the direction of these
movements. A 6-axis robot arm is used in the applications. The calculated
position data and the gripper information are transferred to the robot
controller via the TCP/IP protocol over Ethernet. A code that provides reaching
of robot to calculated position and control the gripper is created and
transferred to robot. In the tests, it has been observed that the industrial
robot has been successfully controlled by human arm and hand movements

Keywords

Industrial robots, Biomimetic control, Rotation and motion kinematics, Gripper control, Human-robot interaction

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