SISTEMA TELEDIRIGIDO DE UN BRAZO ROBÓTICO DE 4 GRADOS DE LIBERTAD APLICANDO VISIÓN DE MÁQUINA.

Today, robotic applications are accompanied by machine vision systems, which monitor their activities and allow remote control of them. In this paper, the design and development of a control system for the remote-control of a robotic arm with 4 degrees of freedom (DOF) motion using machine vision are presented. The movements of the manipulator and end effector within the workspace, are controlled by a joystick type device that allows the user to generate the path to follow. To determine the position of the robotic arm are used a Kinect sensor and reference figure. This figure is placed in the final position in the workspace, which is recognized by a machine vision system. Kinect estimates the distance between the manipulator and reference object, using depth map of infrared camera (IR). Testing with Remote-control system and machine vision system demonstrated the accuracy of the method for calculating spatial distances using the Kinect, with low error regarding actual measurements distances within the working environment of the manipulator. [ABSTRACT FROM AUTHOR]