Proportional derivative control based robot arm system using Microsoft Kinect

Abstract

Today, the development of manipulator robot technology is growing fast and giving good impact for human life. Application of the manipulator robot technology can help many human's tasks effectively. However, most publications in this field of interest are based on complex computation, by using mathematical model from the actual robot. This paper proposes a control system for manipulator robot using Microsoft Kinect based on proportional-derivative control algorithm (PD-control). The function of Microsoft Kinect is as a sensor that detects position of Kinect user joints. The data from Microsoft Kinect will be processed by using inverse kinematics for mapping the position of user joints to the manipulator robot. After that, position controlling for manipulator robot will be processed based on PD-control algorithm in order to obtain the position of the manipulator robot in accordance with the movement of the user. The experiments have already been successfully implemented for movement of manipulator robot with some movement patterns directed by user.