Motion Programming of SCORBOT ER-4u Using Fusion of Robot Kinematics and Inertial Sensor

This paper addresses the framework of a novel approach for the real time robot motion control. The proposed approach amalgamates the kinematics of the human arm along with the Kinect based motion capture system and the inertial sensor to control the robot motion in a real time. The feasibility of the devised strategy is shown by the experimental results for hand path imitation problem. The performance of the approach is evaluated on the basis of geometrical similarity obtained during hand path imitation by the robot end effector in real time imitation scenario.