Implementasi Skeletal Tracking Pada Prototipe Lengan Robot Menggunakan Sensor Kinect

Ratna Aisuwarya1*, Gilang Pratama Putra1, Werman Kasoep1
1Jurusan Sistem Komputer FTI Universitas Andalas

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Computer vision technology is already developed in the implementation of robotics. Microsoft Kinect is used in the implementation. Identifying patterns of movement by Microsoft Kinect is done by simultaneously capturing images, this identification is called skeletal tracking, which identifies the parts of the human body based on the skeletal. This research uses Kinect as a control input for robotic arm.

The system is expected to be an alternative controls in robotics by using gestures. Experimental research are conducted with prototype of robotic arm using servo motors to simulate the joints of a robot arm. Point joints used in the test is the point of the right hand joints, shoulder joint point, the point of the elbow joint, and the point of the hip joint. The design of the system is divided into two parts, the process of tracking motion by Kinect sensor and the process of determining the angle of movement of the servo motor as the robot arm’s controller. Of the eight basic movements defined, robot arm can only be mimicked 6 movement. Based on test results, skeletal tracking is able to produce stable angle in each joints with only 0.08475% of the data error at the speed of data transmission from every angle is less than two seconds with an average speed of 1.058 second

Key Words: Kinect, Skeletal Tracking, Robotic


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