1A1-K12 Teleoperation Control Method of Robotic Manipulator with Inertial Navigation : Fusion of Image Information and Inertial Sensor(New Control Theory and Motion Control)

Abstract

Manipulator system can improve the working efficiency in a factory. An operator should teach points of path for a manipulator when he starts up it. A teaching pendant is generally used to teach points for a manipulator. However, the teaching pendant has required specified skills for the operator and is not intuitive. Therefore we develop an operation device to control a manipulator with human hand motion. An operator can control a manipulator intuitively with proposed device. However, the manipulator sometimes moved wrongly. One reason is that angle around vertical axis rotation is not correct. So, we invent a new operation device with a camera module and propose fusion algorithm of image information and inertial sensor to correct the angle. The effectiveness of proposed algorithm is confirmed through experiments.