Design and Implementation of an APSoC-Based Robotic System with Motion Tracking Teleoperation

摘要

Alongside the evolution of commercial robotics, Industry 4.0 and the smart things era, the need for everyday task automation must be satisfied with low-cost, easy to manufacture and use robotic applications. Specifically with the creation of smart hospitals, an increase is observed in patient-centric operations which can be automated. Due to delicate needs and safety requirements these machines need to be closely monitored and operated by humans. Within this context, in this paper the design and implementation of a robotic chassis bearing arm manipulator is presented addressing these needs. Special attention has been given to the ease of teleoperation with minimal need for equipment and expertise, utilizing Leap Motion virtual reality sensor which outweighs Microsoft's Kinect capabilities. Furthermore, a reconfigurable hardware and software integrated system has been used to control the communication, algorithm processing and motion control utilizing Xilinx Zynq System on Chip (SoC).