DEEP LEARNING BASED HUMAN ROBOT INTERACTION WITH 5G COMMUNICATION

Abstract

Factories focusing on digital transformation accelerate their production and surpass their competitors by increasing their controllability and efficiency. In this study, the data obtained by image processing with the aim of digital transformation was transferred to the collaborative robot arm with 5G communication and the robot arm was remotely controlled. A 3D-printed humanoid hand is mounted on the end of the robot arm for bin picking. Each finger is controlled by five servo motors. For finger control, the user wore a glove, and the finger positions of the user were transferred to the servo motors thanks to each flex sensor attached to the glove. In this way, the desired pick and place process is provided. The position control of the robot arm was realized with image processing. The gloves worn by the user were determined by two different YOLO (You only look once) methods. YOLOv4 and YOLOv5 algorithms were compared by using Python software language in object detection. While the highest detection accuracy obtained with the YOLOv4 algorithm during the test phase was 99.75% in the front camera, it was 99.83% in the YOLOv5 algorithm; YOLOv4 detection accuracy was the highest in the side camera of 97.59%, and YOLOv5 detection accuracy was 97.9%.