Abstract
Nowadays, with the increasing use of robots, and the high level of education required to program and interact with these machines, it becomes necessary to develop platforms that make the human–machine interaction simpler and more precise. In the present work, a control system was developed for robotic manipulators based on computer vision and image processing. An algorithm was developed in Python based on the OpenCV open-source library, which identifies gesture commands captured by a webcam and, from a user interface, transforms them into specific movements to be performed by a prototype manipulator that was designed and built by the authors. The prototype, built-in MDF, has a range of 180 mm and 3 degrees of freedom, and its movements are made from the activation of 3 step motors. The activation of the motors takes place from a firmware that was developed for the Arduino microcontroller, which receives the gestural command that was detected. It was possible to establish critical operating conditions of the developed system in relation to the ambient brightness, distance from the operator to the webcam and the mechanical accuracy of the manipulator's motor response. From the technologies applied in this work, it may be possible to develop control systems by gestures for other robotic mechanisms.
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de Souza, G.G., de Lima, B.L.S., dos Santos, R.V., de Almeida, F.J.M. (2021). Development of a Robotic System with Movements Based on Computer Vision Detection. In: Iano, Y., Arthur, R., Saotome, O., Kemper, G., Padilha França, R. (eds) Proceedings of the 5th Brazilian Technology Symposium. BTSym 2019. Smart Innovation, Systems and Technologies, vol 201. Springer, Cham. https://doi.org/10.1007/978-3-030-57548-9_33
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