Development of a human-guided robotic manipulation system
Human-guided robot interaction is a scientific study on how humans can control the robot. Information on the surrounding environment is essential for a robot to actuate autonomously. Majority of the robots are seen to be operating in industrial purposes and an increasing number are used to aid in fi...
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| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
2014
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| Online Access: | http://hdl.handle.net/10356/60319 |
| _version_ | 1826112052029030400 |
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| author | Sim, Chin Luk |
| author2 | Cheah Chien Chern |
| author_facet | Cheah Chien Chern Sim, Chin Luk |
| author_sort | Sim, Chin Luk |
| collection | NTU |
| description | Human-guided robot interaction is a scientific study on how humans can control the robot. Information on the surrounding environment is essential for a robot to actuate autonomously. Majority of the robots are seen to be operating in industrial purposes and an increasing number are used to aid in fields such as mine and bomb detection, military battle, rescue and search mission. As the surrounding environment of the robot‟s application are sometimes unknown to the robot, the guidance from human is important to ensure the success of the robot operation.
In this project, a human-guided robotic manipulation system will be developed. As human is able to react intelligently to unforeseen changes in the real world and robot is able to perform precision tasks or carry heavy loads that are beyond the capability of human, a control method will be developed to take advantage of both the human knowledge and the robot‟s ability. In situations where human control action is required, the system should allow more flexibility. In cases where precision is required or when human intervention is not expected, the system should let the robot to take control. The control method will be implemented on an industrial robot (Sony SCARA industrial robot) using a kinect sensor which will detect the robot, human and the surrounding environment. |
| first_indexed | 2024-10-01T03:00:56Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/60319 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:00:56Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/603192023-07-07T16:26:04Z Development of a human-guided robotic manipulation system Sim, Chin Luk Cheah Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Human-guided robot interaction is a scientific study on how humans can control the robot. Information on the surrounding environment is essential for a robot to actuate autonomously. Majority of the robots are seen to be operating in industrial purposes and an increasing number are used to aid in fields such as mine and bomb detection, military battle, rescue and search mission. As the surrounding environment of the robot‟s application are sometimes unknown to the robot, the guidance from human is important to ensure the success of the robot operation. In this project, a human-guided robotic manipulation system will be developed. As human is able to react intelligently to unforeseen changes in the real world and robot is able to perform precision tasks or carry heavy loads that are beyond the capability of human, a control method will be developed to take advantage of both the human knowledge and the robot‟s ability. In situations where human control action is required, the system should allow more flexibility. In cases where precision is required or when human intervention is not expected, the system should let the robot to take control. The control method will be implemented on an industrial robot (Sony SCARA industrial robot) using a kinect sensor which will detect the robot, human and the surrounding environment. Bachelor of Engineering 2014-05-26T07:34:53Z 2014-05-26T07:34:53Z 2014 2014 Final Year Project (FYP) http://hdl.handle.net/10356/60319 en Nanyang Technological University 265 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Sim, Chin Luk Development of a human-guided robotic manipulation system |
| title | Development of a human-guided robotic manipulation system |
| title_full | Development of a human-guided robotic manipulation system |
| title_fullStr | Development of a human-guided robotic manipulation system |
| title_full_unstemmed | Development of a human-guided robotic manipulation system |
| title_short | Development of a human-guided robotic manipulation system |
| title_sort | development of a human guided robotic manipulation system |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/60319 |
| work_keys_str_mv | AT simchinluk developmentofahumanguidedroboticmanipulationsystem |