基于Kinect与Dobot机械臂的人机交互系统

Human-computer interaction system based on Kinect and Dobot manipulator

文中系统主要为通过Kinect体感器捕获人体手的坐标移动以及手势变化,利用坐标转化等手段,将其转化为指令发送到Dobot机械臂,使其能够在非特定条件下,按照人体手的轨迹做特定运动,并进行抓取物体等功能。系统中的Kinect体感器获取坐标为三维空间中的人体手的移动轨迹,使得Dobot的机械臂运动更加贴近人体实际操作,大大加强了实用价值。另外Kinect还将获取人体手势,用于控制Dobot末端夹具的开合。

This system is mainly used to capture the coordinate movement and hand gesture of the human hand by Kinect sensor device,and then transformed it into instructions to the Dobot manipulator by means of coordinate transformation,so that it can do the trajectory of the human hand under non-specific conditions.Specific movement,and to capture objects and other functions.Kinect sensor in this system to obtain coordinates for the human body in three-dimensional space movement trajectory,making Dobot＇s arm movement closer to the actual operation of the human body,greatly enhancing the practical value.In addition Kinect also obtains human gestures,used to control the opening and closing of the Dobot end fixture.