Hand Tracking-based Motion Control for Robot Arm Using Stereo Camera

摘要

In this paper, we designed an application and implemented the robot arm control by hand tracking using the stereo camera. The camera captured and tracked the hand motion and saved the coordinate position or the hand motion position in 3D. Our system was designed to track pitch, yaw and roll motion of the hand. Besides that, the system could also be tracked the hand motion of forwarding and backward motion. The hand tracking data were then saved and processed in our system. By using TCP/IP communication, those data were sent to the arm robot and be transformed become the movement of the arm robot. Our system could move the arm robot by the tracking of the hand motion. The experimental results showed that our system successfully reduces the error of the arm robot motion for each motion such as pitch, yaw and roll motion with the motion error 7.28°, 4.70°, 5,37°, respectively.