TY - GEN
T1 - Development of a Teach Pendant for Humanoid Robotics with Cartesian and Joint-Space Control Modalities
AU - Otarbay, Zhenis
AU - Assylgali, Iliyas
AU - Yskak, Asset
AU - Folgheraiter, Michele
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by the Ministry of Education and Science of the Republic of Kazakhstan under the grant and target funding scheme agreement #328/239-2017 and by Nazarbayev University under the Faculty Development Competitive Research Grants Program award #090118FD5343.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This paper presents the design, the construction and testing of a teach pendant for humanoid robotics applications. The system is equipped with a touch-based Graphical User Interface (GUI) from which the robot's joints and the robot's end-effectors can be easily controlled in the joint and Cartesian space respectively. A visual representation of the legs pose were integrated in the interface allowing the operator to test the motion of the limbs before their actual execution on the real robot. The forward and inverse kinematic models were formalized according to the Denavit-Hartenberg convention and implemented in Python 3 with the support of the Tkinter, NumPy and Matplotlib libraries. The chassis of the teach-pendant was designed using SolidWorks software to accommodate a 9-inch display with a touch sensor, a 5000 mAh battery, a Raspberry pi 3, and an ATmega168 microcontroller. On the frontal panel, rotary encoders and different buttons are present to access the menu and precisely tune the control variables.
AB - This paper presents the design, the construction and testing of a teach pendant for humanoid robotics applications. The system is equipped with a touch-based Graphical User Interface (GUI) from which the robot's joints and the robot's end-effectors can be easily controlled in the joint and Cartesian space respectively. A visual representation of the legs pose were integrated in the interface allowing the operator to test the motion of the limbs before their actual execution on the real robot. The forward and inverse kinematic models were formalized according to the Denavit-Hartenberg convention and implemented in Python 3 with the support of the Tkinter, NumPy and Matplotlib libraries. The chassis of the teach-pendant was designed using SolidWorks software to accommodate a 9-inch display with a touch sensor, a 5000 mAh battery, a Raspberry pi 3, and an ATmega168 microcontroller. On the frontal panel, rotary encoders and different buttons are present to access the menu and precisely tune the control variables.
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U2 - 10.1109/RO-MAN46459.2019.8956334
DO - 10.1109/RO-MAN46459.2019.8956334
M3 - Conference contribution
AN - SCOPUS:85078846361
T3 - 2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
BT - 2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
Y2 - 14 October 2019 through 18 October 2019
ER -
