Motion Programming of a Delta Parallel Robot Using a Computer Vision System with Manual Gesture Recognition

Authors

  • Eugenio Yime University of Atlántico image/svg+xml , Universidad del Atlántico image/svg+xml
  • Hansel Bonifacio Trujillos
  • Javier Agustin Roldán Mckinley

DOI:

https://doi.org/10.15665/rp.v21i1.2979

Keywords:

Delta Robot, gesture commands, visual programming of robots, vision control

Abstract

This article presents the implementation of a computer vision system for commanding a Delta robot in academic labs. The software is able to command the robot in each of its six directions in cartesian space, i.e., right, left, up, down, back and forward. A gestural command was assigned for each direction of movement, giving rise to a language of six gestures, all performed with the right hand. Each gesture was detected thanks to the design of a software based on the geometric characteristics of the hand. The code was programmed in Python language using the OpenCV library. The validity and effectiveness of the gestures’ detections was experimentally demonstrated through live tests using several people with different hand dimensions. The results show a high effectiveness in the recognition of gestures, managing to detect each and every one of them, with a reliability greater than 96%. In addition, the detection time of gestures is short, with a 90% of probability of achieving detection in two seconds. Although the software was developed to be used in conjunction with a Delta-type parallel robot; it can be adapted to interact with other types of robotic systems with three translational degrees of freedom.

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Published

2023-07-31

Issue

Vol. 21 No. 1 (2023): Enero - Junio

Section

Articles

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Copyright (c) 2023 Eugenio Yime, Hansel Bonifacio, Javier Roldán

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