The bionic mechanical arm system based on

Kinect and LABVIEW

Fisrt Part: Design Introduction

I Functions Overview
kinect labview
kinect labview labview
visa

STUDY
kinectlabview

This project is a bionic mechanical arm system based on Kinect and LabVIEW
work environment, the basic function of this system is :The kinect monitors and
captures the operator's arm postures, transmits coordinate information to the
LabVIEW software.After the simulation and analysis of gestures by Labview
software,the commands will be sended to the servo control board to control robotic
arm through the visa serial port so that the robotic arm can realize real-time
reproducted operators arm movements. Based on the basic function, we have
two extended contents: one is the STUDY function, it can memorize a real-time
reproducted operators arm movements, learning and repeat it; the other one is
the visual recognition and automatic capture function :Set up a Kinect above the
workbench , Labview can analyse the real time video stream to identify the items on
the workbench,lead the robotic arm to pick up it.

II Originality

kinect labview
labview VISION

labview
The difference between the project and other operating mechanical arm is that
we can operate without direct contacts with any related equipments.We use the
powerful gesture-capture function of Kinect and great robotic tool libraries of
Labview to realize the non-contact control, so that the operations can be light,
accurate, remote, wireless. We also apply the LabVIEW toolkits of VISION to
identify the objects on the workbeach.Then we can realize the function of
automatic grasp.The functions STUDY and RECOGNITION are easy to
program.Only a few operations on LabVIEW can update the learned actions and
the target.

labview

2
3
4

System Construction

1.Kinect 12
2.1TCP/IP
2VISA
3

3.LABVIEW 123
4.

Kinect
2011 2 21 Windows 7 Kinect
Software Development Toolkit(SDK)} Windows 7 PC
C++, C# Visual Basic Microsoft Visio Studio 2010

Kinect SDK [50],

1):
;
2): 1-2 Kinect ;
3):
Windows API

 Kinect
Kinect for Windows SDK Beta NUI API()
Audio()API.NUI API Kinect API , Kinect
Kinect Kinect
, 48
(), 20 Jointl52],
:,Kinect
Skeleton Joints ,Joints :Head, AnkleLeft, AnkleRight,
FootLeft, FootRight,HipCenter, HipLeft, HipRight,KneeLeft, KneeRight,
ShoulderCenler, ShoulderLeft, ShoulderRighl, HandLeft, HandRight,Spine,
WrislLeft, WristRight, ElbowLeft, ElbowRight'^^'o , 10 Joints
,, Joint ,Position XYZ Joint
, m,, Kinect ,
Kinect ,X ,,Y ,,
Z Kinect ,.


Labview VISION
Vision LabVIEW
LabVIEW

VISION

VISION

,,(
)()
()1955 ,Denavit Harlenberg "ASME Journal of
Applied Mechanics",,,

,,

;,,

D-H

C matlab robotics labview robotics

labview RoboticsLabview Robtics
VI
3D

 Analytical Inverse Kinematics

VI
Labview 3D

345131415
6 180 PWM
10

 PWM 20ms50Hz
500us 2500us 0180
LabVIEW
32

#5 P1600 #10 P750 T2500 %% 5 1600us

10 750us 2 2500us

#3 P%d #4 P%d

#5 P%d

#13 P%d #14 P%d

#15 P%d%d

%d

VISA 1 115200b/s2
1500us 90
90

Labview VI
TCP/IP
3D PD

Kinect VISION

IMAQ

Labview

11

 Kinect

Labview

12

Design Methodology
C++ Labview

13

Kinect Kinect RGB

OpenNI2

TCP
TCP

II

III TCP

14

15


1TCP
2
3 IK
4 VISA

1TCP VISA

IP 127.0.0.1
8888
9600
1

2
#shoulder #elbow #hand

3
DH
IK

4VISA

16

Conclusions

labview 3D

1 kinect labview

4
5

1
2
3
4
5
6

labview

7
8

17