Analysis of the Human-Machine Interface for Controlling a Robotic Manipulator Using Gestures

Abstract

This article dedicated to human-machine interfaces. The principles of a non-contact human-machine interface with the possibility of intuitive control of mechatronic robotic complexes using hand gestures are described. A pressing problem today is the algorithm for starting the operation of contactless position determination systems in tasks when the robot directly repeats the movements of the operator's hand. A method is described for determining the moment of the start of work by introducing an additional control channel using the coordinate displacement algorithm, which avoids unwanted movements of the controlled system. An algorithm for shifting the coordinates of the controlled system using the state of the pedal of the beginning of work is developed, a structural diagram of the principle is proposed. The proposed principle was tested using a non-contact optical system to determine the coordinates of human hands.