Application of hand detection algorithm in robot control

摘要

The topic of this paper concerns a way of robotic manipulator control with use of hand gestures. The previously developed hand landmarks detection and localization algorithm is now translated to work with robotic arm manipulator. The proposed algorithm is used for hand gesture recognition and continuous feature points tracking. The points coordinates and their detected paths are transformed into set of orientation and location values in order to achieve proper motion of manipulator. The article presents the way of implementation of hand landmarks tracking algorithm and implementation of robot arm manipulator control algorithm. The main emphasis is laid on the critical problems encountered during the implementation of those two algorithms and the problem of translation of the detection coordinate system into robot task space.