Manipulator Control Based on the Dual Quaternion Framework for Intuitive Teleoperation Using Kinect

摘要

This paper proposes a control system for intuitive operation of robotic manipulators based on the dual quaternion framework. The system is entirely developed using the Robotic Operating System (ROS). It contains both low level interface and end effector controllers for a Schunk Lightweight Arm and simple communication with sensor devices like Kinect. For validation of the system we perform a pick and place teleoperation with the robot's gripper using the position of the operator's hands as obtained from Kinect.