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Visual puppeteering using the Vizualeyez : 3D motion capture system

Holland, Mark van (2018) Visual puppeteering using the Vizualeyez : 3D motion capture system.

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Abstract:The goal of this report is to find a method which can be employed to puppeteer robots. The main thing that have to be kept in mind is that the movements made by the robot have to mimic the movement of the puppeteer. To accomplish this goal two methods which should be able to do this are described and compared to eachother. One of the methods involves kinematics and inverse kinematics. This method has the puppeteer hold a target which ismeasured and from which the necessary variables are determined, which are used to calculate the needed motor positions. The second method involves measuring the angles of the movements of the puppeteer and use these to control the robot. The puppeteer will bemeasured using the VZ4000 3D motion capture system. This system will communicate withMATLAB using the software provided. To test the methods, simulations will be done with the help of MATLAB. A robot desk light will be used as puppet and the methods will be used with this robot in mind. The robot will also be controlled real time by the puppeteer. The method which had the puppeteer hold a target worked for the most part, it had the robot move to the desired point. The problem was however that that the orientation measurement of the target did not work completely as intended. The other method worked as intended for two of the four used angles. Out of the other two, one was influenced by two of the other angles, while the other angle of these two had problems in the definition of the positive and negative values. The results of both methods show that both methods have potential to achieve the goal of this paper. The method involving the angle measurements is better suited for robot with less degrees of freedom, while the other method is expected to work better for robots with more degrees of freedom.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/75253
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