Anthropomorphic manipulator master-slave teleoperation using 3D depth sensor and color camera

Abstract

The article proposes a method for anthropomorphic manipulator teleoperation based on data processing using depth and color cameras of the Kinect controller. Processing data with Kinect allows to determine the coordinates of the nodal points of the operator’s body, which, after recalculation, can be used to generate control signals for the manipulator. The article describes the algorithm and the mathematical apparatus for determining the angles of the operator’s arm joints in real time. The proposed method can be used to control the joints of the manipulator of an anthropomorphic robot, and can also be adapted to control manipulators with a kinematic structure different from the structure of human arm, or to implement other control methods such as gesture control.