Diseño e implementación de una plataforma multi – rotor de tres grados de libertad comandada por medio de gestos realizados con la mano.

Abstract

This project presents the application of the recognition of hand gestures and arm movements to control a dual rotor testbench. In particular, a multimodal control method is developed for a 3-degrees-of-freedom (DOF) tandem helicopter based on surface electromyography sensors and an inertial measurement unit (IMU) included in the Myo Armband sensor. The recognition system can classify five different hand gestures which are used for switching between flight modes and generating set point values for the helicopter. The 3-DOF helicopter testbench is fully designed and implemented as a low-cost alternative for testing the effectiveness of flight controls for unmanned aerial vehicles. The position of the helicopter is regulated by a cascade-dual-PID control scheme that allows a fast switching between a gesture mode and an IMU mode. Experimental results show the effectiveness of using hand gesture recognition and arm movement for controlling the multi-rotor testbench with a fast and accurate response.