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Authors
Advisor(s)
Abstract(s)
O trabalho aqui apresentado é a Dissertação da minha Tese do curso de Mestrado em
Engenharia Eletrotécnica e de Computadores do ISEP, realizada em parceria com o INESC
TEC. O trabalho consiste no desenvolvimento de um sistema avançado de interação entre
homem-robô, usando ferramentas de software livres e de domínio público e hardware pouco
dispendioso e facilmente acessível.
Pretende-se que o sistema desenvolvido possa ser adotado por pequenas ou micro empresas,
daí a restrição monetária. Este tipo de empresas tem, por norma, uma capacidade de
investimento pequena, e ficam impossibilitadas de aceder a este tipo de sistemas
automatizados se estes forem caros. No entanto, o robô continua a ser um componente
fundamental, sendo dispendioso.
Os trabalhos realizados pelos sistemas robóticos podem por um lado, ser repetitivos sem
necessidade de grandes ajustes; por outro lado, o trabalho a realizar pode ser bastante
diverso, sendo necessários bastantes ajustes com (possivelmente) programação do robô. As
empresas podem não ter disponível mão-de-obra qualificada para realização da programação
do robô. Pretende-se então um sistema de “ensino” que seja simples e rápido. Este trabalho
pretende satisfazer as necessidades de um sistema de interação homem-robô intuitivo mesmo
para operadores que não estejam familiarizados com a robótica.
Para simplificar a transferência de informação da tarefa a desempenhar pelo sistema robótico
é usado um sistema de infravermelhos para delinear a operação a desempenhar, neste caso
concreto uma operação de soldadura. O operador usa um apontador com marcadores, a
posição destes marcadores é detetada usando duas câmaras para permitir o posicionamento
tridimensional no espaço. As câmaras possuem filtros infravermelhos para separar o espectro
de luz.
Para o controlo do sistema e interface com o robô é usado um computador de baixos recursos
computacionais e energéticos, e também de baixo custo. O sistema desenvolvido é portanto
computacionalmente leve para poder ser executado neste computador.
The work presented here is the report of my Master's thesis in Electrical and Computers Engineering from ISEP, developed in partnership with INESC TEC. The goal is to develop an advanced interaction system between man and robot, using public domain free software tools and inexpensive hardware easily accessible. It is intended that the developed system can be adopted by small or micro businesses, hence the monetary restriction. Such companies normally have a small investment capacity, and are unable to access this type of automated systems if they are costly. However, the robot continues to be a fundamental component, being expensive. The work carried out by robotic systems can be, on one hand, repeated without the need for major adjustments; on the other hand, the work involved can be quite diverse and plenty of necessary adjustments needed, possibly involving robot programming. Companies may not have available skilled workers to perform the robot programming. So it is pretended a “teaching” system, that is simple and fast. This work aims to meet the needs of an intuitive human-robot interaction system even if the operator is not familiar with robotics. To simplify the task of information transfer to be performed by the robotic system is used an infrared system to delineate the operation to play, in this case a welding operation. The operator uses a pointer with markers, and the position of these markers is detected using two cameras to enable determining the three dimensional position in space. The cameras have infrared filters to separate the light spectrum. For system control and interface with the robot is used a low computational and low power computer, but also low-cost. The developed system is therefore light to be executed on this computer.
The work presented here is the report of my Master's thesis in Electrical and Computers Engineering from ISEP, developed in partnership with INESC TEC. The goal is to develop an advanced interaction system between man and robot, using public domain free software tools and inexpensive hardware easily accessible. It is intended that the developed system can be adopted by small or micro businesses, hence the monetary restriction. Such companies normally have a small investment capacity, and are unable to access this type of automated systems if they are costly. However, the robot continues to be a fundamental component, being expensive. The work carried out by robotic systems can be, on one hand, repeated without the need for major adjustments; on the other hand, the work involved can be quite diverse and plenty of necessary adjustments needed, possibly involving robot programming. Companies may not have available skilled workers to perform the robot programming. So it is pretended a “teaching” system, that is simple and fast. This work aims to meet the needs of an intuitive human-robot interaction system even if the operator is not familiar with robotics. To simplify the task of information transfer to be performed by the robotic system is used an infrared system to delineate the operation to play, in this case a welding operation. The operator uses a pointer with markers, and the position of these markers is detected using two cameras to enable determining the three dimensional position in space. The cameras have infrared filters to separate the light spectrum. For system control and interface with the robot is used a low computational and low power computer, but also low-cost. The developed system is therefore light to be executed on this computer.
Description
Keywords
Interfaces Homem-Robô Visão artificial Sistemas de posicionamento Robótica Human-Robot interfaces Computer vision Tracking systems Robotics