Control de un brazo robótico usando el hardware kinect® de microsoft

Abstract

The Joysticks and the haptic interfaces has been the most used mechanisms to control a robotic arm., However, at research fields such as the robotic surgery, the interface must be easy to use an intuitive for the surgeon. This article presents, a control strategy of a two degree of freedom robotic arm, using as reference the movements of a human hand detected by the Kinect® sensor, using the SDK libraries. The controller implementation guaranteed that the captured hand position would be the robotic arm position. The strategy was validated using a graph showing the actual and the proposed trajectory, and also the squared error of the system.