Posture Control of Collaborative Robotic Manipulator Based on Gesture Sensors

As one of the common ways of human–computer interaction, gesture control has attracted wide attention of researchers. In this article, we design a posture control system that control a six-joint collaborative robotic manipulator-xArm by the gesture detected by Leap motion gesture sensor. To accomplish this, the kinematics properties of xArm is analyzed, the transformation matrix is derivated by coordinate transformation, in order to avoid the duplicate data of moving target points that caused by Leap motion’s typical working frequency being lower than xArm’s maximum receiving frequency, a constraint criterion is designed. Experiments show that this method can track the palm posture detected by Leap motion gesture sensor in real time, and then control xArm accurately.