Gesture Controlled Robotic Arm Using Leap Motion

Abstract

Robot plays a vital part in making our lives more facile. The scope of this paper is to provide a relation between human and machine by the interaction of human hand and robotic arm. The idea converges towards the conception of a robotic arm identical to human hand with gesture that is more precise. The arm consists of five Degree of Freedom (DOF) and an end effector, which allows the interaction with the real world. The construction of the robotic arm adapts the principles of inverse kinematics and torque equilibrium. Now the obligations for the controller arise and along the way settled with the exploration of leap motion sensor. As earlier, robotic arm was controlled by the keypad or joystick which required a lot of practices and calculations to manipulate the robotic arm to reach desired position. The exploitation of the leap motion results in explicitly acquiring for hand gesture and provides set of points. This innovation enables more perceptive five DOF control with an end effector. The results showed the reduction in the complexity approach and gain in control accuracy Keywords: Forward Kinematics, Gesture Control, Leap Motion, Robotic Arm