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Kinect-based Computed Torque Control for lynxmotion robotic arm

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 dimensions coordinates. Therefore, Kinect sensor is integrated into our control system to detect the different user joints coordinates. An inverse kinematic calculation algorithm-like method is proposed to calculate different user joints positions, velocities and accelerations. First, the dynamic model of the lynxmotion robot has been developed. Then, a real time computed-torque control algorithm has been implemented. Experimental results prove the effectiveness of the control approach.