Kinect-based Computed Torque Control for Lynxmotion robotic arm

被引：0
|
作者：
Benabdallah, Ismail [1 ,2 ]
Bouteraa, Yassine [1 ,2 ]
Boucetta, Rahma [1 ]
Rekik, Chokri [1 ]
机构：
[1] Natl Sch Engineers Sfax, CEM Lab, Sfax, Tunisia
[2] Res Ctr Informat Multimedia & Digital Data Proc S, Sfax, Tunisia
来源：
2015 7TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC) | 2014年
关键词：
Computed Torque Control; gesture recognition; Microsoft Kinect; manipulator robot; Human-Machine-Interface;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on a Kinect-based real-timeinteractive control system implementation. Based on LabVIEW integrated development environment (IDE), a developed human machine-interface (HMI) allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK) provides a tool to keep track of human body skeleton and abstract it into 3 dimensions coordinates. Therefore, Kinect sensor is integrated into our control system to detect the different user joints coordinates. An inverse kinematic calculation algorithm-like method is proposed to calculate different user joints positions, velocities and accelerations. First, the dynamic model of the lynxmotion robot has been developed. Then, a real time computed-torque control algorithm has been implemented. Experimental results prove the effectiveness of the control approach.
引用
收藏
页码：466 / 471
页数：6
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