Research and Implementation of Real-Time Motion Control of Robot Based on Kinect

Abstract

With the development of human-computer interaction technology, the interactive experience between human and machine becomes more and more simple and natural. The ideal state of human-computer interaction can be operated by natural devices such as voice, gestures and expressions, which have been tried and applied in the Kinect field. Kinect, as a new generation of motion sensing device, can achieve the input function by capturing the user’s motion and speech recognition in real time, so as to control the movement of the robot and effectively improve its intelligence. The research of this paper mainly includes skeleton tracking and robot control. Kinect1 generation was used to obtain the human body depth and skeleton images. VS software was used for programming. OpenNI and Kinect SDK libraries were called to identify the human arm joints and obtain the spatial coordinates. The robot controller USES the STMF series 32-bit processor, accepts serial port data, controls the robot arm steering gear, and completes the human body movement imitation. The motion trajectory is smooth and stable, and the motion effect is good.

Fund project: Provincial key platform and major scientific research project of universities in Guangdong China (No. 2017GXJK219) and Higher education and teaching reform project of Guangdong Province in 2017 (No. 2017002JXGG).