근전도센서를 이용한 ROS기반의 산업용 로봇 원격제어
Teleoperation Control of ROS-based Industrial Robot Using EMG Signals
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초록
This paper introduces a method to control an industrial robot arm to imitate themovement of the human arm and hand using electromyography (EMG) signals. The proposedmethod is implemented on the UR3 robot that is a popular industrial robot and a MYO armbandthat measure the EMG signals generated by human muscles. The communications for the UR3robot and the MYO armband are integrated in the robot operating system (ROS) that is amiddle-ware to develop robot systems easily. The movement of the human arm and hand isdetected by the MYO armband, which is utilized to recognize and to estimate the speed of themovement of the operator's arm and the motion of the operator's hand. The proposed systemcan be easily used when human's detailed movement is required in the environment where humancan't work. An experiments have been conducted to verify the performance of the proposedmethod using the teleoperation of the UR3 robot.
Abstract
This paper introduces a method to control an industrial robot arm to imitate themovement of the human arm and hand using electromyography (EMG) signals. The proposedmethod is implemented on the UR3 robot that is a popular industrial robot and a MYO armbandthat measure the EMG signals generated by human muscles. The communications for the UR3robot and the MYO armband are integrated in the robot operating system (ROS) that is amiddle-ware to develop robot systems easily. The movement of the human arm and hand isdetected by the MYO armband, which is utilized to recognize and to estimate the speed of themovement of the operator's arm and the motion of the operator's hand. The proposed systemcan be easily used when human's detailed movement is required in the environment where humancan't work. An experiments have been conducted to verify the performance of the proposedmethod using the teleoperation of the UR3 robot.
참고문헌 (12)
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