دانلود مقاله ISI انگلیسی شماره 53015
ترجمه فارسی عنوان مقاله

رابط انسان و منبلترس جدید با استفاده از سنسور ترکیبی با فیلتر کالمن و فیلتر ذرات

عنوان انگلیسی
A novel human–manipulators interface using hybrid sensors with Kalman filter and particle filter
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
53015 2016 9 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Robotics and Computer-Integrated Manufacturing, Volume 38, April 2016, Pages 93–101

ترجمه کلمات کلیدی
ربات - رابط انسان و ربات - فیلتر ذرات (PF)؛ فیلتر کالمن (KF)
کلمات کلیدی انگلیسی
Robot teleoperation; Human–robot interface; Camshift; Particle filter (PF); Kalman filter (KF)
پیش نمایش مقاله
پیش نمایش مقاله  رابط انسان و منبلترس جدید با استفاده از سنسور ترکیبی با فیلتر کالمن و فیلتر ذرات

This paper presents a novel method for a human–manipulator interface, which estimates the position and orientation of the human hand using a 3D camera and an inertial measurement unit (IMU). In the proposed method, a 3D camera is used to locate the human hand with the help of Camshift algorithm and an IMU is employed to measure the orientation of the human hand. Although the position and the orientation of the human hand can be obtained from the two sensors, the measured error increases over time due to the noise of the devices and the tracking error. Particle filter (PF) and Kalman filter (KF) are used to estimate the orientation and the position of the human hand. Finally, a finite impulse response (FIR) filter is used to detect the PF failures. The human hand is mapped to the robot EE so that human could control the robot just like controlling his/her own hands. The greatest advantage of this method is that the human can complete the high precision task without much training beforehand. The human–robot interface system was experimentally tested in a lab environment and the results indicate that such a system can successfully control robot manipulator.