Abstract
Abstract In this paper we present a new concept of robot teleoperation by tracking the pose of the human operator's body with the Kinect motion capture sensor. Instead of controlling robot joint positions, positions of operator's hands and legs are used to control robot velocities. In the first method operator's movements control velocities of individual robot joints, while in the second, velocities of a robot tool in the Cartesian space are controlled in the same manner. In the latter case the joint coordinates are obtained directly from robot's inverse kinematics equations. The methods were demonstrated on a five degrees of freedom (5-DOF) articulated robot arm Mitsubishi Movemaster EX.
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