İnsan-robot etkileşiminin biyomimetik yaklaşımla sağlanması

Öz

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.

Anahtar Kelimeler

• 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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