R&D Of Assembly Robot Control System Based On Gesture Recognition

With the rapid development of robot control technology, various robots have been widely used in industry, agriculture, scientific research, education and people’s life and many other areas. But at present, the operation mode of robot is still yet monotonous, the existing control approach is basically through the HMI, Flex Pendant, remote control to achieve. Interaction of human and robot is not natural and direct. And some of the tasks that need to be done with corporation of human and robot like robot teaching BomBot blasting and so on, the efficiency of these tasks is low and the efficiency is low in traditional way. Therefore, the research based on natural gestures to control the robot system not only has considerable practical value, but also has theoretical significance.On the collection and analysis of domestic and international relevant research data and results of gesture recognition and industrial robot control system, developed a assembly robot control system based gesture recognition, the system realized the functions that controlling assembly robot motion control through natural gestures,and then teaching the robot.The main contents are as follows:(1) The overall design of the assembly robot control system based on gesture recognitionFirst introducing the working principle of assembly robot controlling system based on gesture recognition, and then designed the overall block diagram of the system according to the functional and performance requirements of the control system, and describing each module in the system.(2) The hardware design of the assembly robot control system based on gesture recognitionSelected each function module hardware of system according to the function and performance of the architecture of the system requirements for each subsystem and design requirements of overall hardware.(3) Gesture recognition based on Leap MotionDesigned gesture recognition method based on Leap Motion sensor,including static and dynamic gesture recognition. Highlights the dynamic gesture recognition algorithm based on the Leap Motion.(4) The software design of the assembly robot control system based on gesture recognition and simulation and test of the systemFirst introduced the software development environment of this system, and then The main processes of the system has been designed for each subprogram according to the system functional requirements and architecture of the main flow of the system,and a key part of the code routines. Finally, trying 3D simulation for gesture control assembly robot using OpenGL verification system, and doing motion and serial communications testing.At last, the paper summarizes the full text, lists the research results and innovation, and points out the advantages and disadvantages, and also gives the prospect of the future.