REAL TIME PREDICTIVE CONTROL OF UR5 ROBOTIC ARM THROUGH HUMAN UPPER LIMB MOTION TRACKING
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Date
Authors
Omarali, Bukeikhan
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Engineering and Digital Sciences
Abstract
This thesis reports the authors’ results on developing a real-time predictive
control system for an Universal Robot UR5 robotic arm through human
motion capture with a visualization environment built in the Blender Game Engine.
The UR5 is a 6 degree of freedom serial manipulator commonly used
in academia and light industry. It is a very safe robot by design that comes
at a cost of a rather limited API with very little support of real-time operation.
The motion tracking is performed by a wireless low-cost inertial motion capture
setup produced in-house. The motion tracker is an extension of author’s previous
work on replacing a forearm IMU in conventional inertial motion tracking
suits with a potentiometer in order remove anatomical constraints from corresponding
data fusion algorithms. The external controller incorporates an iTaSC
SDLS IK solver and a Python wrapped C explicit model predictive controller
generated using the Multi Parametric Toolbox. The visualisation provides the
user with the feedback on the robot’s progress towards the target. It is planned
to extend the visualisation to virtual reality in future.
Tests have shown that the robot follows the operator’s wrist position and
orientation with an average of 0.05sec. time lag in the case when the operator
moves under the robot’s velocity and acceleration limits. When the operator
moves too fast for the robot to keep up in real-time, the robot is able to catch
up with the operator with little or no overshooting. Thesis results are described
in a late-breaking report and demo accepted by the 12th annual IEEE/ACM
international conference Human-Robot Interaction (HRI2017).
Description
Keywords
Universal Robot UR5, robotic arm, Blender Game Engine
Citation
Bukeikhan Omarali; 2009; REAL TIME PREDICTIVE CONTROL OF UR5 ROBOTIC ARM THROUGH HUMAN UPPER LIMB MOTION TRACKING; School of Engineering. Department of Mechanical Engineering. Nazarbayev University; http://nur.nu.edu.kz/handle/123456789/2299