Manipulation Of Kuka Youbot With Hand-Motion Using Webcam And Marker Detection

Rosli, Mohamad Fadhli Iqbal (2019) Manipulation Of Kuka Youbot With Hand-Motion Using Webcam And Marker Detection. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This thesis presents a marker-based system for a robot manipulator for a Kuka Youbot platform. This project is designed to provide a smart, effective and easy to convey teleoperation interface. The user control aim is acquired by the motion capture in real time, processed and send it to the Kuka youbot manipulator. The system builds upon existing approach taken from other platform and the open source Robot Operating System and extends its capabilities to the Kuka youbot, resulting in a system that can detect motion of a marker in its environment and navigate the manipulator with a simple user interface. Aruco marker been use as the marker for this system as it can give the pose estimation of the squared marker. The hand pose is used as a model to specify the pose of a real-time robot's end-effector. The left arm is employed to provide a high-level user command such as "Manipulator Up/Down" and "Manipulator left/right". The desired result of the system will be demonstrated in a real-time teleoperation experiment using Kuka Youbot manipulator. Some possible application of the proposed system are in robot-assisted manufacturing, rehabilitation and tele-presence.

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