Development and Gesture Control of Virtual Robotic Arm

Abstract

In this study, we propose the development and control of a gesture-controlled four degrees of freedom (4 DOF) virtual robotic arm. The virtual robotic arm mimics the motion of human arm with the help of physical sensors like gyroscope and flex sensors attached to the wrist and elbow of the human arm. The position and orientation data from the sensors are converted to corresponding joint angles and are transmitted serially to bring the same motion in the virtual robotic arm. The position control for the virtual arm is achieved using an PID controller developed in MATLAB using Arduino as an interface. The controller gains are tuned to reduce the errors and optimize the system performance.