Desarrollo de un sistema de visión artificial a través de una tarjeta de desarrollo para controlar el Brazo Robótico Mitsubishi
There are tasks in which human arm movements are required, but because of the danger they pose to the health and life of the human being, it is not possible to perform them on the site, it is advisable to take all necessary actions at a safe distance For people, for it can be made use of robots that...
| Autor Principal: | Asnalema Condo, Andrea Liliana |
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| Formato: | bachelorThesis |
| Idioma: | spa |
| Publicado: |
2017
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| Materias: | |
| Acceso en línea: |
http://dspace.ups.edu.ec/handle/123456789/14537 |
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| Sumario: |
There are tasks in which human arm movements are required, but because of the danger they pose to the health and life of the human being, it is not possible to perform them on the site, it is advisable to take all necessary actions at a safe distance For people, for it can be made use of robots that can be commanded remotely. The robotic arm can replicate the movements of the human arm to perform such tasks where there is a considerable risk to the health and integrity of a person. This project proposes a tool for the recognition of the movements of a human arm and its subsequent replication to give a greater scope to the tasks that are not possible to perform them by people. The present titling project aims to capture simple movements of the human arm for later replication in the MITSUBISHI MELFA RV-2AJ robotic arm belonging to the Salesian Polytechnic University. To execute the project, an obscure room was built, where the two chambers are located, which will collect the images of the movements executed by the human arm. The Raspberry Pi 3 card will process these images, perform a filtering process and arithmetic calculations to determine the joints angles (J1, J2, J3) to be described by the robot, to replicate the movement. These data are sent to the Arduino card, which is responsible for performing serial communication with the MITSUBISHI arm. |
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