Robot workspace sensing and control with Leap Motion Sensor

Abstract

The present thesis deals with the design and testing of an appropriate software interface that allows a user to control a robot using a Leap Motion Sensor while defining and keeping a safe workspace for the robot to operate. The Leap Motion Sensor is a small device able to sense human hands above it and to keep track of them. Hence, when controlling the robot, the user will feel an interesting touch-free control experience. Distinct control modes, such as linear commandment, joint-by-joint control or specular imitation have been studied and implemented. The basis for a future teaching mode, where the robot could remember user actions and play them accordingly to fulfill a complex task has also been settled. At the same time, a precise definition of the workspace, creating a safe environment for both the robot and the user, and the contemplation on how to avoid undesired situations have been consciously considered.