PA10 Robot’s Movement Through Natural Interface

Abstract

 This paper introduces a natural interface for the movement of PA10 industrial robot and the implementation of its system. In order to evaluate the availability of these interfaces and the difference between the trajectory input by using its own development method and the trajectory executed by the robot, the mathematical model of PA10 robot is preliminarily established, and its motion is simulated in unity 3D graphics engine. Subsequently, the leap motion capture device is added as the main element of the natural interface, and tracks the movement of the user’s palm during the execution of various trajectories of the simulation software and the actual robot. The results show that the tracking error between the expected trajectory and the actual trajectory of PA10 robot is very small.