Static gesture recognition based precise positioning of 5-DOF robotic arm using FPGA

Abstract

Human machine interactions plays a vital role in numerous applications such as biomedical, communication systems, automobiles and also in commercial electronic equipment. During surgeries, utilizing a robotic arm to perform the task will help in maintaining a non-infectious environment, thereby aid in the speedy recovery of patients. During industrial inspection of materials or products, usage of robotic arm will speed up the process and results in an increase in throughput. However, in order to perform these tasks effectively and efficiently, precise positioning of the robotic arm is essential. Also the robotic arm needs to be controlled dynamically from a remote location. In this research work, static gesture based recognition system and precise positioning of a robotic arm using field programmable gate arrays is proposed. User hand gestures are recognized using machine vision algorithms implement in Odroid-XU4. These gestures are used to interact with the 5 DOF-robotic arm via field programmable gate arrays (FPGA). FPGAs are used for simultaneous controlling the actuators (Parallel controlling) in different regions of the robotic arm. Hence, by speeding up the process of positioning the robotic arm at a precise position.