Motion Reproduction by MoCAP

This project is about motion reproduction by UR10 robot using MoCAP. In this project, first of all motion of hand is recorded using MoCAP. The recorded motion is then published to robot which receives the motion, interprets it and using the control scheme of robot, reproduce the same motion as of the hand motion of the demonstrator.

The MoCAP connection was build up in C++ and control law for UR10 is written in MATLAB. The experiment is done in the Demo Area where a deomstrator holds a marker in the MoCAP arena, he then moves his hand in different directions. The motion of hand is recorded at each instant and then fed to the robot which reproduce the motion online.

#photo