The Design Of Kinect Action Interactive System

With the rapid development of computer science and technology,human work and computers are so closely linked that they cannot work alone.Computer technology has brought great convenience to human life and greatly improved human work efficiency.Therefore,the use,analysis and research of computers are getting deeper and deeper.Human-computer interaction is an important research field of computer science.Therefore,research on how to facilitate communication with computers has been attracted to the researchers.The human-computer interaction has evolved from the initial mouse click interaction to the current interaction with robots through voice or motion and is closely related to the development of robots.Especially in the rapid development of robotics today,whether in aerospace,medical or education,service,and other industries,robots have been integrated into all aspects of human life as an important individual,such as replacing humans for hazardous work,performing repetitive tasks in corporate pipelines,and exploring dangerous zones that humans cannot enter.This paper designs a robotic action interactive system based on human-computer interaction technology.The main work includes the following aspects:This paper builds a ROS robot operating system on Linux operating system and implements each functional module and the information transfer between modules through node topics.Obtain color data stream and depth data stream which collected by Kinect equipment on ROS and correct it,then use Open NI(Open Natural Interface open natural interface / interface)software framework and NITE components to analyze the corrected depth data stream,get the coordinates of human skeleton joints,filter it finally.This paper analyzes the kinematics of robots.The coordinates of the human joints are converted to the general mathematical coordinate system,then using spatial vector method and D-H representation method to analyze robot manipulators to determine the robot's positive kinematics equation and solve the inverse kinematics equation.Finally determine the angle of rotation of the corresponding servo on the robot arm.Study the robot controller's information transmission method,analyze the PWM pulse signal value needed when the servo's arm rotates the corresponding angle,and organize the value into the corresponding message data frame through the serialcommunication protocol on the robot.The robot controller realizes the rotation of the servo,thus realizing the human-machine interactive control of the robot.