@inproceedings{80865f3727154c6bb7c03d7ec1a44a69,
title = "Kinect-based Computed Torque Control for lynxmotion robotic arm",
abstract = "This paper focuses on a Kinect-based real-timeinteractive 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.",
keywords = "Computed Torque Control, gesture recognition, Human-Machine-Interface, manipulator robot, Microsoft Kinect",
author = "Ismail Benabdallah and Yassine Bouteraa and Rahma Boucetta and Chokri Rekik",
note = "Publisher Copyright: {\textcopyright} 2015 University of Al Qayrawan, Tunisia.; 7th International Conference on Modelling, Identification and Control, ICMIC 2015 ; Conference date: 18-12-2015 Through 20-12-2015",
year = "2016",
month = feb,
day = "16",
doi = "10.1109/ICMIC.2015.7409416",
language = "English",
series = "Proceedings of 2015 7th International Conference on Modelling, Identification and Control, ICMIC 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "Proceedings of 2015 7th International Conference on Modelling, Identification and Control, ICMIC 2015",
address = "United States",
}