Collaborative robotic system for interacting by means of gestures and method of its operation

Collaborative robotic system for interacting by means of gestures consists of a sensor (1) for sensing 3D positions of the finger joints of the operator's hand (9) a working space (3) of the robot, defined from below by the upper surface of a flat plate of hardened translucent plexiglass, a central computer (2), located under a robot's workspace (3), to process data on the 3D positions of the operator's finger joints, to communicate and control other parts of the collaborative robotic system, from a control panel (7), located to the left starting and basic settings of the robotic manipulator (4), from a control computer (8) of a robotic manipulator (4), located under a control panel (7), to control the operation of a robotic manipulator (4). It further consists of the horizontal feedback monitors (6), located just below the plexiglass, to show the place where the finger joints of the operator's hand (9) point to show the visual feedback. Scanned 3D positions of the joints of the operator's hand (9) from the sensor (1) are processed in a central computer (2), which sends the processed data from the sensor (1) to the control computer (8) of the robotic manipulator (4) of the central computer (2) controls the operation of the robotic manipulator (4) so ​​as to move the end effector of the robot to positions in the working space (3) corresponding to the positions of the finger joints of the operator's hand (9). At the same time, the horizontal feedback monitors (6) located under the plexiglass show the places where the operator (9) shows, which serves as a visual feedback of the operation of the collaborative robotic system. Kolaboratívny robotický systém na interagovanie pomocou ukazovacích gest pozostáva zo snímača (1) na snímanie 3D pozícií kĺbov prstov rúk operátora (9), z pracovného priestoru (3) robota, zdola vymedzeného vrchnou plochou rovinnej platne z tvrdeného priesvitného plexiskla, z centrálneho počítača (2), umiestneného pod pracovným priestorom (3) robota, na spracovanie údajov o 3D pozíciách kĺbov prstov rúk operátora, na komunikáciu a riadenie ostatných častí kolaboratívneho robotického systému, z riadiaceho panelu (7), umiestneného vľavo pod pracovným priestorom (3) robota, na spustenie a základné nastavenia robotického manipulátora (4), z riadiaceho počítača (8) robotického manipulátora (4), umiestneného pod riadiacim panelom (7), na riadenie činnosti robotického manipulátora (4). Ďalej pozostáva z vodorovných spätnoväzbových monitorov (6), u