controlling of robotic hand through data glove

Transfer inovácií 29/2014
2014
CONTROLLING OF ROBOTIC HAND THROUGH DATA GLOVE
Ing. Juraj Kováč, PhD.
KVTaR, SjF, TU Košice
Nemcovej 32, 04001, Košice
e-mail: [email protected]
Abstract
Article deals with the application of mixed
reality in the laboratory and practical work. It
characterizes the project aimed to develop an
integrated management system of robotic hands,
controlled by data gloves. The project is an integral
part of the laboratory system used for research and
verification of virtual reality in design and project
work in conditions of machine production.
The system is used commercially CAx
products
(CATIA,
DELMIA,
Inventor,
TECNOMATIC and special software products to
work in virtual reality).
Departments are used in the development
and modeling products, subproducts, selected types
of technology. The main activities are focused on
conceptual and detailed design of classic and agile
manufacturing, which are presented by physical,
digital or virtual 3D models of production systems.
The functionality is verified through end-to-end
simulation. [4]
The structure of the basic types of work
and technical means of virtual reality is presented in
Fig. 1.
Key words: Virtual reality, mixed reality, data
gloves, robotic hand.
INTRODUCTION
Mixed reality (MR-mixed properties), as a
field of computer research deals with the
combination of real world and computer generated
data (virtual reality), where computer-generated
synthetic objects are introduced into the real
environment and vice versa, in real time. MR
combines real and virtual environment, it is
interactive and takes place in real time and is
registered in three dimensions. Integrated systems
of virtual and physical reality are also applicable in
the management of robotic subsystems. Integration
of some kind of physical and virtual technical
means opening up new application possibilities not
only in the implementation of laboratory
experiments but also the practice of mechanical
engineering.[3]
Technical and software support virtual reality
applications
Laboratory system for research and
validation of virtual reality uses multiple
workstations, technical and software tools.
Supporting of virtual reality is provided by:
192

computer network with 2 workstation and
8 PCs,

multi-touch desing systems,

technical resources to support virtual
reality - the left and right data gloves,
headband display

3D projection system,

A3 tablets, etc.).
Fig. 1 Structure of the basic types of work
and technical means of virtual reality
Integration project of virtual CyberGlove II
data glove and physical robotic hand MechaTE
Robot
In the project integration are used the
CyberGlove II data glove (right and left) as an
essential technical means from Immersion
Corporation. Each data glove has 18 motion sensors
and communicates with the computer using
Bluetooth technology. For more technical
parameters of glove see in table Tab.1
Transfer inovácií 29/2014
Tab. 1Specifications CyberGlove II data glove
2014
Hands can be controlled PWM servo
controller, microcontrollers or simple RC system.
For the management and control of robotic hands
MechaTE Robot is used servocontroller, which is
equipped with 6 outputs to servo motors and serial
USB interface. The design of robotic hands
MechaTE Robot servocontroller and their
management is in Fig. 4.
Experimental verification of activity data
glove was and is also currently applied in solving
several types of projects and student work. Example
of record motion trajectory CyberGlove II data
glove in virtual reality is presented in Figure 2. [7]
Fig. 4 MechaTE Robot robot hand and the
servocontroller
Description of software product development for
managing the integrated systems of virtual
CyberGlove II data glove and physical robotic
hand MechaTE Robot
Fig. 2 Records of trajectory motion of CyberGlove
II data glove in virtual reality
The
programming
environment
CyberGlove II data glove, which configure the data
gloves and sets up communication with the
computer using Bluetooth technology is shown in
Fig. 3
For the conncetion and synchronization of
data glove and the robotic system has been
developed customized software Cyberglove2
RoboticHand. The software is developed in C + +
programming language. By using the software, the
robotic system can be controlled via the data glove.
Software enables to calibrate each servo motor to
adjust the sensitivity of motion and control. Each
servo motor can be calibrated separately with a
different range of motion and various sensitivity.
The programming environment software product
Cyberglove 2 RoboticHand is shown in Fig. 6.
Fig. 3 Immersion Corp. programming environment.
Device Configuration Utility
As another essential technical means for
the integration project are used robotic hands
MechaTE Robot (right and left) from Custom
Entertainment Solutions. The hands are made of
anodized aircraft aluminum. There are 14 points of
movement, have 5 degrees of freedom and 5 are
controlled by servo motors. Robotic arms are
designed primarily to demonstrate their application
possibilities and not to implement the handling of
material objects. It is a lowcost structural design.
Fig.5Integrated System data glove and the robotic
Hand
193
Transfer inovácií 29/2014
Fig.6 Programming environment Cyberglove 2
Robotic Hand
Developed and experimentally verified of
integrated system of mixed reality using
CyberGlove II data glove and MechaTE Robot
Robotic hand is applicable in practice, especially in
the process of assembly and disassembly of
products, palletising parts of manual activities etc,
where the operator carries out various actions with
the data gloves. Then robotic hands repeat these
repetitive tasks in an automated way. This creates
a space for saving personnel and automation of the
handling process. The system itself is in the process
of further development accompanied by other
components such as the wrist joints, motion axis,
sensors, etc., which allows to extend its application
possibilities.
CONCLUSION
Potential of virtual technologies in the
current period greatly affects innovation activities
in many areas of human activity. Progress reflected
in the development of technical and software
resources significantly affects the previously
established working methods and procedures for
working with such systems. Results of the study
that have been already realized in laboratory
experiments point to an important application area
of mixed reality, which can be used in different
areas of mechanical engineering.
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ESANA_REALITA_SVR.pdf
The article was elaborated within the
project Technicom UVP: Activity A.33 pilot
projects in the field of mechanical engineering.
PP3 Center research, development and
implementation of innovative research development
services
for
flexible
and
reconfigurable production technologies.

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