Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Industrial Robot Control by Means of Gestures and Voice Commands in Off-Line and On-Line Mode

Version 1 : Received: 21 October 2020 / Approved: 22 October 2020 / Online: 22 October 2020 (09:57:07 CEST)

A peer-reviewed article of this Preprint also exists.

Kaczmarek, W.; Panasiuk, J.; Borys, S.; Banach, P. Industrial Robot Control by Means of Gestures and Voice Commands in Off-Line and On-Line Mode. Sensors 2020, 20, 6358. Kaczmarek, W.; Panasiuk, J.; Borys, S.; Banach, P. Industrial Robot Control by Means of Gestures and Voice Commands in Off-Line and On-Line Mode. Sensors 2020, 20, 6358.

Journal reference: Sensors 2020, 20, 6358
DOI: 10.3390/s20216358

Abstract

The paper presents the possibility of using KINECT v2 module to control an industrial robot by means of gestures and voice commands. It describes elements of creating software for off-line and on-line robot control. The application for KINECT module was developed in C# language in Visual Studio environment, while the industrial robot control program was developed in RAPID language in RobotStudio environment. The development of a two-threaded application in RAPID language allowed to separate two independent tasks for the IRB120 robot. The main task of the robot is performed in thread no. 1 (responsible for movement). Simultaneously working thread no. 2 ensures continuous communication with the KINECT system and provides information about the gesture and voice commands in real time without any interference in thread no. 1. The applied solution allows the robot to work in industrial conditions without negative impact of communication task on the time of robot’s work cycles. Thanks to the development of a digital twin of the real robot station, tests of proper application functioning in off-line mode (without using a real robot) were conducted. Obtained results were verified online (on the real test station). Tests of correctness of gesture recognition were carried out, the robot recognized all programmed gestures. Another test carried out was the recognition and execution of voice commands. A difference in the time of task completion between the actual and virtual station was noticed - the average difference was 0.67 s. The last test carried out was to examine the impact of interference on the recognition of voice commands. With a 10dB difference between the command and noise, the recognition of voice commands was equal to 91.43%. The developed computer programs have a modular structure, which enables easy adaptation to process requirements.

Subject Areas

KINECT; industrial robot; vision system; RobotStudio; Visual Studio; gesture control; voice control

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