Earticle

초록

영어

This study proposes a multi-stage signal stabilization structure for RGB-D camera-based robot arm teleoperation using hand-tracking information. Vision-based hand tracking with MediaPipe Hands provides a contactless input method for multi-degree-of-freedom robot control, but directly applying raw tracking results to robot commands can cause unintended command changes and unstable motion. To address this, stabilization processes are applied at three stages of the control pipeline: vision-based hand control input, robot target command and trajectory, and joint command continuity. The proposed structure was evaluated on a robot arm teleoperation system through Hold Jitter and Pick-and-Place experiments under Filter-OFF and Filter-ON conditions. In the Hold-Jitter experiment, XYZ command jitter decreased from 1.675 mm to approximately 0 mm, while Roll/Pitch command jitter was reduced by 56.2%. In the Pick-and-Place task, the first-attempt success rate increased from 33.3% to 63.3%, and the mean task completion time was reduced by 37.9%. These results, based on three participants, indicate reduced command fluctuations and a positive trend toward improved teleoperation performance.

목차

Abstract
1. 서론
2. 시스템 구성
2.1 전체 시스템 및 하드웨어 구성
2.2 데이터 처리 및 통신 구조
2.3 위치 및 자세 추정
2.4 상대 동작 기반 로봇 제어 매핑
3. 신호처리 및 안정화 알고리즘
3.1 불안정성 유형 및 전체 안정화 구조
3.2 비전 기반 손 제어 입력 안정화
3.3 로봇 목표 명령 및 궤적 안정화
3.4 관절 명령 연속성 확보
4. Pilot 실험 및 결과 해석
4.1 Pilot 실험 구성 및 평가 방법
4.2 실험 결과
4.3 결과 논의
5. 결론
후기
References

키워드

저자

• 류영재 [ Youngjae Ryu | These authors contributed equally to this work/Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea ]
• 이건우 [ Geonwoo Lee | These authors contributed equally to this work/Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea ]
• 박세준 [ Sejun Park | Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea ]
• 김언 [ Eon Kim | Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea ]
• 정영석 [ Youngseok Jeong | Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea ]
• 정환서 [ Hwanseo Jeong | Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea ]
• 이호수 [ Hosu Lee | Dept. of Control and Robot Engineering, Gyeongsang National University, Jinju, Korea/Dept. of Control and Robot Engineering, Gyeongsang National University ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  한국기계항공기술학회지(구 한국기계기술학회지) [Journal of the Korean Society of Mechanical and Aviation Technology ]

• 간기

  격월간

• pISSN

  1229-604X

• eISSN

  2508-3805

• 수록기간

  1999~2026

• 등재여부

  KCI 등재

• 십진분류

  KDC 550 DDC 620