Desarrollo de una Interfaz Natural de Usuario para el Control de Movimiento de un Brazo Robótico Industrial Usando Visión por Computadora

Abstract

In the present project, the design and construction of a natural user interface were sought to control a robotic arm. For this purpose, and due to the nature of the project, a sequential methodology was proposed, which focuses firstly on the development of the most important stages or aspects of the system, and then condenses all the work into a final result. In the initial stage, a commercial 3D camera was used, and a computer vision system was developed that recognizes gestures of a person through skeleton tracking techniques. Subsequently, the information was encoded into numerical instructions, and communication was established through sockets with a robotic control system that interprets the data and moves the end effector of an industrial arm. In the final stage, simulation tests and physical experiments were conducted, resulting in the implementation of system improvements, such as signal filtering or the implementation of a graphical interface.