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Wearable Intertace for Teleoperation of Robot Arms - WITRA

 
[Update 14] Teleoperation Test #3 - 2 IMUs and SCARA
Update #10142  |  04 Dec 2014
 

Video: Teleoperating SCARA using WITRA with 2 IMUs

 

What we have told you so far...

So far we have been showing all the details of how WITRA is developed and implemented. Here are some topics we've covered:


What we can show you now!

Now we can show you in action the purpose of developing WITRA: to create a simple and intuitive interface to teleoeperate ANY robot manipulator. We wanted to make it as simple as possible, so that no "rocket science" knowledge is required. Therefore, the interface we have now is quite easy to understand:

connections_scara

Figure 1: Schematic of the connections and data flow from the user-side to SCARA-side


There are 2 IMUs positioned at the user's arm. One goes on the upper-arm to capture the movements of this section, and the other goes on the forearm as does the same job for this section. The data collected from these two sensors (Yaw, Pitch and Roll) is sent over UART to Colibri. On Colibri's code, this data is processed and the direct kinematics of the human arm is calculated. This enables us to find the position of the user's wrist every 40 miliseconds. This information is send to SCARA's server in the form of 

{"Command":"Impedance","X":0.2442,"Y":0.5075,"Z":-0.0785}

as shown on Update 11. The command "Impedance" sets the control mode to Impedance Control. On the robot's code, the inverse kinematics is calculated, finding then the values of position for each joint. Notice that SCARA has 4 DoFs, but only the first 3 are responsible for positioning the end-effector. 

The visual feedback closes the loop and the user changes the the robot's position continuously.

 

How it looks like

And this is a picutre of WITRA with two IMUs. The next step is to add the third and last IMU at the user's hand, in order to get a finer movement. New videos and updates coming soon! 

 

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