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Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publication2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Number of pages6
ISBN (Print)9781538646434
Publication statusPublished - 27 Aug 2018
Publication typeA4 Article in a conference publication
EventIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Finland
Duration: 2 Jul 20184 Jul 2018


ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications


Recent development in depth sensing provide various opportunities for the development of new methods for Human Robot Interaction (HRI). Collaborative robots (co-bots) are redefining HRI across the manufacturing industry. However, little work has been done yet in the field of HRI with Kinect sensor in this industry. In this paper, we will present a HRI study using nearest-point approach with Microsoft Kinect v2 sensor's depth image (RGB-D). The approach is based on the Euclidean distance which has robust properties against different environments. The study aims to improve the motion performance of Universal Robot-5 (UR5) and interaction efficiency during the possible collaboration using the Robot Operating System (ROS) framework and its tools. After the depth data from the Kinect sensor has been processed, the nearest points differences are transmitted to the robot via ROS.


  • collaborative robots, human-robot collaboration, Human-robot interaction, Microsoft Kinect v2, ROS, trajectory planning

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