Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm
Joint Authors
Ben Abdallah, Ismail
Bouteraa, Yassine
Rekik, Chokri
Source
Advances in Human-Computer Interaction
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-27
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life.
The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks.
In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case) or trajectory generation based on feedback sensors (active robots case).
However, gesture based control robot can be considered as another channel of system control which is not widely discussed.
This paper focuses on a Kinect-based real-time interactive control system implementation.
Based on LabVIEW integrated development environment (IDE), a developed human-machine-interface (HMI) allows user to control in real time a Lynxmotion robotic arm.
The Kinect software development kit (SDK) provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates.
Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates.
The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm.
The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.
American Psychological Association (APA)
Ben Abdallah, Ismail& Bouteraa, Yassine& Rekik, Chokri. 2016. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm. Advances in Human-Computer Interaction،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1095122
Modern Language Association (MLA)
Ben Abdallah, Ismail…[et al.]. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm. Advances in Human-Computer Interaction No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1095122
American Medical Association (AMA)
Ben Abdallah, Ismail& Bouteraa, Yassine& Rekik, Chokri. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm. Advances in Human-Computer Interaction. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1095122
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1095122