Design On Human-computer Interactive Control System Of Robot Arm Based On Kinect

This research is to explore how to combinate Kinect sensor technology and robot arm control technology to create a robot arm contr ol platform with somatosensory control through a fast and robust way. The somatosensory technology will be introduced into robot arm control. It adopts kinect somatosensory technology-based way and controls the movement of robot arm through the way of imitating human action to achieve human-machine interaction.In this paper, a human-machine interactive control systemof robot arm based on Kinect is built. Data collected through the Kinect to analyze the movement of human arm and plam. The space vector method is used to calculate the joint angle of the 3D coordinate data of each joint point, and built the motion mapping relations of robot arm with which. The use of hand gesture recognition results to control the operation of the end actuator, then synchronize simulated movements of human arm and palm to achieve human-machine interaction control.The human skeleton tracking and gesture recognition for Kinect somatosensory technology is realized. Human skeleton tracking and gesture recognition is to get gesture information of human arm and palm.we proceed real-time detection of human skeleton by Kinect to obtain positional information and angle data of each joint, then achieved digital arm movements and gestures. In order to control the operation of end actuator of robot arm, we studied hand segmentation and fingertip detection methods during detection of gestures to complete the detection of palm state. Finally,the "grasp" and "release" operation of the control actuator are realized.In this paper, the kinematics of robot arm is studied and analyzed. By analyzing the complexity of the whole system and the real-time analysis, the movement of the robot arm is determined by the positive motion mode. In the control mode, the master-slave control mode is adoped. The host machine adopts an embedded computer platform, which is mainly responsible for Kinect image acquisition, gesture recognition and tracking of human bones. The joint angle and end actuator control information of robot arm is obtained according to the processing.The slave machine adopts industrial robot arm system to complete the actuation for the motor of each joint. And the experimental verification of the whole system is completed on the basis of the experimental platform. F inally, the human-machine interactive control of robot arm is realized with the SDA20 D double arm robot.