Design and Implementation of a Tripod Robot Control System Using Hand Kinematics and a Sensory Glove

摘要

Current technological progress in automation and robotics allows human kinematics to be used to control any device. As part of this study, a sensory glove was developed that allows for a delta robot to be controlled using hand movements. The process of controlling an actuator can often be problematic due to its complexity. The proposed system solves this problem using human–machine interactions. The sensory glove allows for easy control of the robot by detecting the rotation of the hand and pressing the control buttons. Conventional buttons have been replaced with SMART materials such as conductive thread and conductive fabric. The ESP32 microcontroller placed on the control glove collects data read from the MPU6050 sensor. It also facilitates wireless communication with the Raspberry Pi microcontroller supporting the Modbus TCP/IP protocol, which controls the robot’s movement. Due to the noise of the data read from the gyroscope, the signals were subjected to a filtering process using basic recursive filters and an advanced algorithm with Kalman filters.