Leap motion : controlled robotic arm

Lee , Jun Wei (2014) Leap motion : controlled robotic arm. Project Report. UTeM. (Submitted)

Text LEAP MOTION – CONTROLLED ROBOTIC ARM 24pages.pdf Download (363kB)

Abstract

The robotic arm structure is designed for a purpose, to pick and place an object, controlled by a gesture control mechanism called Leap Motion controller. This is to expose the use of the new way as a controller to control a device or hardware. Furthermore, this is applicable for those tasks that unreachable by human. The robotic arm structure of pick and place is controlled by Arduino as microcontroller to control the angles and displacements of the servo motor precisely. The position and orientation of the fingers and hands send to the Arduino through command prompt. Next, the programming is done by JavaScript language to communicate between Arduino and the Leap Motion controller. Specifically, a detailed 3D drawing is drawn by using SolidWorks and the dimensions for each part drawn needed for the fabrication. The robotic arm hardware then assembled all together. After the platform is done, kinematic and inverse kinematic equation and calculations are programed into JavaScript language for the robotic arm mechanism. The robotic arm followed the hand gesture with the fingers. The position and orientation and the finger are be the same as the robotic arm. Robotic arm then integrate with Leap Motion for pick and place purpose. The movement and accuracy are improved from the experiments and some calculations after the data collected from the experiment. Another test is given to the randomly selected participants to control the robotic arm with a task given. This is to record the participants understanding on the first try on controlling the robotic arm with their hand gestures. Few experiments are carried out to increase the accuracy analyze the precision while improve the overall pick and place performance.

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