Inverse Kinematics Applied to Robotic Manipulator from Coordinates Captured by Microsoft Kinect

• Flavio Zacca Pontifical Catholic University of Goiás
• Luma Oliveira Federal University of Goiás
• Gabriel Carvalho Pontifical Catholic University of Goiás
• Rogério Pereira Federal University of Goiás
• Wanderson Araújo Pontifical Catholic University of Goiás

DOI: https://doi.org/10.5753/erigo.2020.13859

Abstract

Some industrial production processes, operators of industrial plants are normally exposed to risks that can compromise health and safety at work. This article presents a proposal for a system to mitigate these risks, using a robotic manipulator associated with the Microsoft Kinect, which is used in order to obtain the operator’s arm joints Cartesian coordinates and, remotely, applying inverse kinematics, to act in a robotic manipulator that performs the work of the operator and minimize potential risks. It was observed that the robotic arm presented a satisfactory result in terms of response time and positioning, however

Keywords: Robotic manipulator, inverse kinematics, servomotors, Microsoft Kinect

References

Amatya, S. and Petchartee, S. (2015). Real time kinect based robotic arm manipulation with five degree of freedom. In 2015 Asian Conference on Defence Technology (ACDT), pages 1–6. IEEE.

Craig, J. J. (2005). Introduction to robotics da Fazenda (EAT), M. (2017). Anuário estatístico de acidentes.

Iqbal, J., Khan, Z. H., and Khalid, A. (2017). Prospects of robotics in food industry. Food Science and Technology, 37(2):159–165.

Lee, W. C., Salam, A. S. A., Ibrahim, M. F., Rahni, A. A. A., and Mohamed, A. Z. (2015). Autonomous industrial tank floor inspection robot. In 2015 IEEE International Conference on Signal and Image Processing Applications (ICSIPA), pages 473–475. IEEE.

Leon-Rodriguez, H., Sattar, T., and Park, J.-O. (2013). Wireless climbing robots for industrial inspection. In IEEE ISR 2013, pages 1–4. IEEE.

Mikell, P. (2011). Automação industrial e sistemas de manufatura. Pearson Brasil.

Parikh, S., Sustarich, M. J., Hulett, R. H., and Reitler, E. (2011). Considering process temperatures when designing electrical heat tracing for hazardous areas. In 2011 Record of Conference Papers Industry Applications Society 58th Annual IEEE Petroleum and Chemical Industry Conference (PCIC), pages 1–5. IEEE.

Regulamentadora, N. (2007). Nr-15: Atividades e operações insalubres. Brasília: MTE.

Regulamentadora, N. (2012). Nr-33: Segurança e saúde nos trabalhos em espaços confinados. Brasília: MTE.

Regulamentadora, N. (2015). Nr-16: Atividades e operações perigosas. Brasília: MTE.

Regulamentadora, N. (2016a). Nr-10: Segurança em instalações e serviços em eletricidade. Brasília: MTE.

Regulamentadora, N. (2016b). Nr-35: Trabalho em altura. Brasília: MTE.

Spong, M. W., Hutchinson, S., and Vidyasagar, M. (2004). Robot dynamics and control second edition.

Srinivasan, K., Harikrishnan, V., Venkatesh, R. V., and Gowtham, S. (2018). Smart monitoring and auto-neutralization of ph of alkaline liquids in process industries. In 2018 2nd International Conference on Smart Sensors and Application (ICSSA), pages 99–104. IEEE.