Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2

Burak Teke; Minna Lanz; Joni-Kristian Kämäräinen; Antti Hietanen

doi:10.1109/MESA.2018.8449156

Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2

Burak Teke
, Minna Lanz
, Joni-Kristian Kämäräinen
, Antti Hietanen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

153 Downloads (Pure)

Abstract

Recent development in depth sensing provide various opportunities for the development of new methods for Human Robot Interaction (HRI). Collaborative robots (co-bots) are redefining HRI across the manufacturing industry. However, little work has been done yet in the field of HRI with Kinect sensor in this industry. In this paper, we will present a HRI study using nearest-point approach with Microsoft Kinect v2 sensor's depth image (RGB-D). The approach is based on the Euclidean distance which has robust properties against different environments. The study aims to improve the motion performance of Universal Robot-5 (UR5) and interaction efficiency during the possible collaboration using the Robot Operating System (ROS) framework and its tools. After the depth data from the Kinect sensor has been processed, the nearest points differences are transmitted to the robot via ROS.

Original language	English
Title of host publication	2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Publisher	IEEE
Number of pages	6
ISBN (Print)	9781538646434
DOIs	https://doi.org/10.1109/MESA.2018.8449156
Publication status	Published - 27 Aug 2018
Publication type	A4 Article in conference proceedings
Event	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Finland Duration: 2 Jul 2018 → 4 Jul 2018

Conference

Conference	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Country/Territory	Finland
City	Oulu
Period	2/07/18 → 4/07/18

Funding

Authors would like to thank Jane & Aatos Erkko Foundation and Technology Industries of Finland Centennial Foundation for the support of UNITY (2016-2019) project.

Keywords

collaborative robots
human-robot collaboration
Human-robot interaction
Microsoft Kinect v2
ROS
trajectory planning

Publication forum classification

Publication forum level 1

ASJC Scopus subject areas

Control and Optimization
Computer Science Applications
Electrical and Electronic Engineering
Mechanical Engineering
Instrumentation

Access to Document

10.1109/MESA.2018.8449156

08449156
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Accepted author manuscript, 820 KB

http://urn.fi/URN:NBN:fi:tty-201907151956

Cite this

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title = "Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect {\textregistered} v2",

abstract = "Recent development in depth sensing provide various opportunities for the development of new methods for Human Robot Interaction (HRI). Collaborative robots (co-bots) are redefining HRI across the manufacturing industry. However, little work has been done yet in the field of HRI with Kinect sensor in this industry. In this paper, we will present a HRI study using nearest-point approach with Microsoft Kinect v2 sensor's depth image (RGB-D). The approach is based on the Euclidean distance which has robust properties against different environments. The study aims to improve the motion performance of Universal Robot-5 (UR5) and interaction efficiency during the possible collaboration using the Robot Operating System (ROS) framework and its tools. After the depth data from the Kinect sensor has been processed, the nearest points differences are transmitted to the robot via ROS.",

keywords = "collaborative robots, human-robot collaboration, Human-robot interaction, Microsoft Kinect v2, ROS, trajectory planning",

author = "Burak Teke and Minna Lanz and Joni-Kristian K{\"a}m{\"a}r{\"a}inen and Antti Hietanen",

note = "INT=mei,{"}Teke, Burak{"}; IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications ; Conference date: 02-07-2018 Through 04-07-2018",

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language = "English",

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Teke, B, Lanz, M, Kämäräinen, J-K & Hietanen, A 2018, Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2. in 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018., 8449156, IEEE, IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Oulu, Finland, 2/07/18. https://doi.org/10.1109/MESA.2018.8449156

Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2. / Teke, Burak; Lanz, Minna; Kämäräinen, Joni-Kristian et al.
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018. IEEE, 2018. 8449156.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2

Abstract

Conference

Funding

Keywords

Publication forum classification

ASJC Scopus subject areas

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Cite this