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dc.contributor.authorGagne, Jonathan
dc.date.accessioned2012-01-24 18:43:42 (GMT)
dc.date.available2012-01-24 18:43:42 (GMT)
dc.date.issued2012-01-24T18:43:42Z
dc.date.submitted2011
dc.identifier.urihttp://hdl.handle.net/10012/6523
dc.description.abstractThere is currently a wide variety of six degree-of-freedom (6-DOF) motion capture technologies available. However, these systems tend to be very expensive and thus cost prohibitive. A software system was developed to provide 6-DOF motion capture using the Nintendo Wii remote’s (wiimote) sensors, an infrared beacon, and a novel hierarchical linear-quaternion Kalman filter. The software is made freely available, and the hardware costs less than one hundred dollars. Using this motion capture software, a robotic control system was developed to teleoperate a 6-DOF robotic manipulator via the operator’s natural hand movements. The teleoperation system requires calibration of the wiimote’s infrared cameras to obtain an estimate of the wiimote’s 6-DOF pose. However, since the raw images from the wiimote’s infrared camera are not available, a novel camera-calibration method was developed to obtain the camera’s intrinsic parameters, which are used to obtain a low-accuracy estimate of the 6-DOF pose. By fusing the low-accuracy estimate of 6-DOF pose with accelerometer and gyroscope measurements, an accurate estimation of 6-DOF pose is obtained for teleoperation. Preliminary testing suggests that the motion capture system has an accuracy of less than a millimetre in position and less than one degree in attitude. Furthermore, whole-system tests demonstrate that the teleoperation system is capable of controlling the end effector of a robotic manipulator to match the pose of the wiimote. Since this system can provide 6-DOF motion capture at a fraction of the cost of traditional methods, it has wide applicability in the field of robotics and as a 6-DOF human input device to control 3D virtual computer environments.en
dc.language.isoenen
dc.publisherUniversity of Waterlooen
dc.subjectMotion Captureen
dc.subjectIntelligent Roboticsen
dc.subjectTeleoperationen
dc.subjectExtended Kalman Filteringen
dc.titleIntuitive Teleoperation of an Intelligent Robotic System Using Low-Cost 6-DOF Motion Captureen
dc.typeMaster Thesisen
dc.pendingfalseen
dc.subject.programSystem Design Engineeringen
uws-etd.degree.departmentSystems Design Engineeringen
uws-etd.degreeMaster of Applied Scienceen
uws.typeOfResourceTexten
uws.peerReviewStatusUnrevieweden
uws.scholarLevelGraduateen


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