Some interactive control modes for planar cable-driven robots

This paper presents the design and the implementation of a multimodal operator interface dedicated for planar cable-based robots. Three interactive robot control modes which have been implemented are namely point and click based control, gesture-based control and voice based control. Point and click based control enables robot control by simply clicking on features appearing on images of the robot workspace. Gestural-based control enables robot control by means of human operator gestures. Voice based control enables robot control by means of natural speech. Successful experiments have been tested on a homemade planar cable-driven robot. The availability and the combination of these three modes improve greatly the capability of the global system.