基于Leap Motion手势识别机械臂的研究

提出了一种基于Leap Motion识别手势控制机械臂的方法.该方法首先使用Leap Motion对人体手部深度点云信息进行提取,获得手部位姿态、手指位姿以及手势识别.然后将手部各关节点的空间姿态坐标转换为机械臂每个关节的控制角度.最后通过串口与下位机Arduino进行信息交互,实现机械臂向前、左右、抓取等动作.实验表明,该方法可以准确识别人体手势,实时控制机械臂.

Research on Gesture Recognition Manipulator Based on Leap Motion

With the rapid development of the economy,the demand of robotic manipulators is increasing.Therefore,how to control the robotic manipulator efficiently and conveniently has become a social concern.In this paper,a method of gesture control manipulator based on leap motion recognition is proposed.In this method,we first use leap motion to extract the depth point cloud information of human hand,and obtain the hand position,finger position and gesture recognition.Then,the spatial attitude coordinates of each joint point of the hand are transformed into the control angle of each joint of the manipulator.Finally,through the serial port and the lower computer Arduino for information exchange,the manipulator can move forward,left and right,grasp and so on.The experiments show that the system can recognize human gesture accurately and control the manipulator in real time.