Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

摘要: Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation technology offers more efficiency high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories passive robots case or trajectory generation based feedback sensors active case. However, gesture can be considered as another channel system which is not widely discussed. This paper focuses Kinect-based real-time interactive implementation. Based LabVIEW integrated environment IDE, developed human-machine-interface HMI allows user real time Lynxmotion robotic arm. Kinect software kit SDK tool keep track body skeleton abstract it into 3-dimensional coordinates. Therefore, sensor our detect different joints dynamic has been implemented sliding mode algorithm. experimental results carried out test effectiveness system, verify tracking ability, stability, robustness.