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Vol.3 , No. 1, Publication Date: Feb. 3, 2016, Page: 17-24
| [1] | Osahor Uche, Department of Electronic and Electrical Engineering, Obafemi Awolowo University, Ile-Ife, Nigeria. |
| [2] | L. O. Kehinde, Department of Electronic and Electrical Engineering, Obafemi Awolowo University, Ile-Ife, Nigeria. |
This study developed a gesture detection system for the control of a robotic arm. This was achieved with the view of developing a simple and user friendly approach for robotic arm manipulation. A Microsoft Xbox™ Kinect sensor was used as the input device for retrieving real-time joint information from the user. Kinematic algorithms were developed by applying Denavit-Hartenberg parameters and geometric equations. The acquired gestures from the human subject were used to carry out various kinematic routines as deemed fit by the user. A graphical interface was also developed to provide real time feedback to the user. The robot was able to execute basic gestures as instructed by the user rated at about 80% success rate. Most gestures developed were effective enough for the scope of this project. However, minimal gesture detection errors were recorded averaging below 20%. A standard deviation error of 3.8 at a variance error of approximately 14.1 was recorded. The study implemented an effective gesture system that was capable of executing the basic routines required for robotic arm manipulation in real time.
Keywords
Gesture Detection, Kinect Sensor, Graphical Interface and Robotic Arm
Reference
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