Cinemática inversa aplicada a manipulador robótico a partir de coordenadas capturadas pela Microsoft Kinect
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Data
2019-12-11
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Universidade Federal de Goiás
Resumo
This article presents the development of inverse kinematics applied to a robotic arm manipulator using Microsoft Kinect as a coordinate input device. The objective of this research is to contribute positively to industrial processes that use object manipulation by operators who are exposed to risks. At such times, the developed system can reduce the risk of
accidents to operator, promoting safer working environments as the operator can remotely operate a robotic arm manipulator without direct contact with the hazards used. In this article is presented or robotic manipulator employed for testing, as well as an inverse kinematics developed for it. Experimental results are discussed as well as obstacles Handling integration between handler and Microsoft Kinect.
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Braço robótico, Manipulador mecânico, Microsoft Kinect, Cinemática inversa, Robotic arm, Mechanical manipulator, Microsoft Kinect, Reverse kinematics
Citação
BATISTA, Rogério Pereira. Cinemática inversa aplicada a manipulador robótico a partir de coordenadas capturadas pelo Microsoft Kinect. 2019. 23 f. Trabalho de Conclusão de Curso (Graduação) - Escola de Engenharia Elétrica, Mecânica e da Computação, Universidade Federal de Goiás, Goiânia, 2019.