Automatic control of a robot head and arm

Razvoj tehnika upravljanja robotskih sustava započeo je paralelno sa razvojem tehničke grane robotike. Do danas su se početni koncepti upravljanja takvim sustavima značajno izmjenili te i dalje teže sve većem stupnju autonomnosti i inteligencije. U ovom radu, temeljem iste ideje, izrađena je dvoosna robotska glava koja je povezana u sustav sa industrijskom robotskom rukom te je programski ostvareno automatsko upravljanje sustava. Za potrebe upravljanja je razvijena programska podrška u C# programskom jeziku sa primjenom Kinect senzora, koji se nalazi u sklopu robotske glave, te funkcijom praćenja korisnika u prostoru iz koje se dobivaju potrebne informacije za ostvarivanje upravljanja. Aplikacijom je omogućena i komunikacija u lancu: robotska ruka – aplikacija – robotska glava. U radu su prikazana rješenja za izvršavanje dva zadatka ovog sustava, praćenje korisnika „pogledom“ prilikom kooperacije korisnika sa sustavom robotske glave i praćenje izvršavanja raznih zadataka u kooperaciji sa robotskom rukom. Širok spektar mogućnosti ovog sustava primjenom navedenih elemenata predstavlja odličnu platformu za ostvarivanje sličnih zadataka uz mogućnost proširenja i daljnjeg unapređivanja sustava dodavanjem novih elemenata.Development of robotic system control methods has started simultaneously with beginning of robotic system development. Initial concepts for controlling such systems were significantly changed until now and they aim to have even higher degree of autonomy and intelligence. In this paper, based on the same idea, robotic head with two axis is made and it's connected with industrial robotic arm in one system which is automatically controled by developed program. This program is developed in C# programing language and it's used for control purposes using a Microsoft Kinect sensor which is integrated in robotic head assembly. The program uses Kinect's skeletal tracking function to obtain values required for control realization. In this main program is also enabled communication in control chain: industrial robotic arm – main aplication – robotic head. In this paper are also shown solutions for two controlling tasks with this system. First task is cooperation of robotic head with user, where the main idea is to track user and try to direct robotic head's „face“ according to user's head position. Second task is, in cooperation of robotic head with robotic arm, to direct robotic head's „face“ according to robot's tool center point (TCP) position. A wide range of possibilities of this system with using all mentioned elements represent excellent platform for realization more similar tasks and possibility for future system upgrade and further improvement