Gesture control of 3DoF robotic arm teleoperated by Kinect sensor

摘要

This article focuses on the control of articulated electromechanical systems. The goal is to control and monitor the trajectory of a robot manipulator using only the gesture of the human arm. The gesture control developed in our application is based on microsoft kinect technology. Control of the robotic remote manipulator is performed using two different nonlinear system control approaches. As a control architecture, the goal was to design and implement a robotic nonlinear controller. To this end, an estimated mode-based sliding mode controller is designed and implemented. To prove the effectiveness of the developed control law, computer-based torque control was implemented and compared between the two results were made. After these comparisons and the ensuing discussions, we were able to demonstrate the effectiveness of sliding-mode control law.