Development of a human-robot cooperative control system

Abstract

During the final year of study in the course for the Bachelor’s in Electrical & Electronics Engineering in Nanyang Technological University, the student was assigned to the Final Year Project for Safe Human-Robot Interaction under the supervision of Associate Professor Cheah Chien Chern.

The project’s objective was achieved through the use of a Microsoft Kinect depth sensor to monitor the position of a SCARA robot and determine safety actions to be taken by the robot. The Kinect was programmed through the Processing IDE on the student’s laptop while the SCARA robot was pre-programmed in Visual C++ on the robotics lab’s Windows 2000 PC. Communication between the two computers was achieved through the use of a router to establish a private network between the computers.