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2012 - CS308 Group 10 : Project README ================================================ Group Info: ------------ + Aayush Singhal (09005041) + Gopi Sivakanth (09005043) + Sriram Bhargav (09005067) + Aakash Rao (09005069) Extension Of ------------ No.We have started from scratch Project Description ------------------- The project aims at developing an simple and intuitive Natural User Interface (NUI) for controlling a robotic arm, using a human arm. All the user needs to do is stand in front of a sensor and move his arm, and the robotic arm tries to imitate the actions and movements of the human arm. As a result, uid movements which cannot be performed using a controller, are now possible to execute. The Microsoft Kinect sensor is used to capture skeletal data of the user which is processed and converted into a set of angles which is then sent to the robotic arm over a serial port correction. The algorithm used to generate the angles tries to reach the same position in space as that of the human hand with respect to the human body, relative to the base of the robotic arm. This makes the control fairly intuitive even for First time users. Technologies Used ------------------- + Kinect + Gripper + Robotic Arm Installation Instructions ========================= First Install dependencies : 1.Microsoft Visual Studio Professional 2010 2.Kinect for Windows SDK v1 3.NET Framework 4.0 or higher 4.FT232 USB to Serial Converter (provided with the source) Then run the Setup.exe. See the screencast for details(link provided below). Links ===== 1. Project Home Page https://github.com/aayushssinghal/Kinect_Controlled_Robotic_Arm_group10_cs308_ 2012 2. Hardware Setup Guide http://www.youtube.com/watch?v=o0-Mywjv-kc 3. Software Setup and Usage Screencast http://www.youtube.com/watch?v=G3VrGSS2STc References =========== 1. Kinect for Windows SDK v1 : Resources and Documentation, Microsoft Corporation http://www.microsoft.com/en-us/kinectforwindows/develop/resources.aspx 2. Kinect SDK v1 Quick Starts, Channel 9, MSDN http://channel9.msdn.com/Series/KinectQuickstart 3. Dexter ER2 Robotic Arm User Manual, Nex Robotics, Version 1.00, April 2011 http://www.nex-robotics.com/products/robotic-arms-and-grippers/dexter-er-2-heavy-duty-robotic-arm-with-controller-and-accessories. html 4. AVR AtMega2560 Programming Manual, Atmel, May 2011 http://www.atmel.com/Images/doc2549.pdf Documentation ============= Documentation is in HTML. Please see the Documentation folder.
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