Title :
Tele-manipulation of robot arm with smartphone
Author :
Parga, Carlos ; Xiaoou Li ; Wen Yu
Author_Institution :
Dept. de Comput., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
In order to remotely control a robot with a small size, cheap and space sensing device, in this paper we develop a smart phone-based human machine interface (HMI). It uses the accelerometer and the gyroscope of the smart phone to generate six commands. By calculating the inverse kinematics, the reference angles are send to robot arm via Wi-Fi network. The novel HMI has many advantages over the others. The experiment results show that our HMI is convenient and effective for remote control of robot arm.
Keywords :
accelerometers; dexterous manipulators; graphical user interfaces; gyroscopes; human-robot interaction; manipulator kinematics; smart phones; telerobotics; wireless LAN; Wi-Fi network; accelerometer; command generation; gyroscope; inverse kinematics; reference angles; remotely controlled robot; robot arm tele-manipulation; small-sized-cheap-space sensing device; smart phone-based HMI; smart phone-based human machine interface; Accelerometers; Gyroscopes; Joints; Kinematics; Robot sensing systems;
Conference_Titel :
Resilient Control Systems (ISRCS), 2013 6th International Symposium on
Conference_Location :
San Francisco, CA
DOI :
10.1109/ISRCS.2013.6623751
