Research On Kinect-based Remote Robot Control System

Robotic control is undoubtedly an important part of modern industrial control,and after Microsoft released the Kinect sensor,The combination of somatosensory and mechanical control has gradually become a hot topic of research,and has a huge potential application prospects.The first,this paper builts a robot-arm control system based on PC+ARM platform,using the depth sensor to obtain depth image information of human bodies,and then through the method of two thresholds to obtain the depth image of the hand separation from the human body imges.Through the analysis of the images can get the human hand's position and attitude,and these datas can be analyzed by the Inverse-kinematics-algorithm to get the joint angles of the six digital servos.And secondly,the robot-arm does not imitate the human-arm structure,so the joints of robotic-arm cannot correspond to human joints.To solve this problem,this paper put forward a method of separate position and posture.By the method of the image-thinning,we can get a hand coordinate system on the depth image of the human hand,and to resolve the two angles of the end joint's attitude.Then the article proposes a combination of geometry and analytics,apply this method to inverse kinematics analysis can get the other four joint angles of the end joint's position,with all the six joints' angles,the robotic arm can complete the following actions of the operator.Thirdly,for the choice of communication methods,this paper used the wireless remote control,and establish an R/S model with ARM+Linux as server and PC as client,installing a wireless network card to achieve any PC client to invent the robotic arm,greatly extend the application environment.For the real-time issue of Linux system,this article use the framework of Xenomai + adeos to improve the response speed of system running in real-time process,reduce the delay time of commands sending and receiving.Finally,in order to verify the reliability of the article,the author has set up a development environment for the robot system,and finished the program design,then have a experiment of wireless data transmission,and use gestures to control robot-arm crawl,the results to prove out the design can be done in the general environment to solve the required task,and the design works normally in a laboratory environment and meets expected design requirements.