using kinect controll robobuilder

[chickenkai]

Hello!

Now I use kinect to controll my roboboulder

Now I encounter a problem:

I want to implement robot's arm move forward while my arm also move
forward

Now I let T as the value to the distance of the two joints hand and shoulder when two arms hold fat, so when the arm move forward, the distance of hand and shoulder would smaller to T, this is my idea.

But when I use my idea, thr robot's arm would not move forward, what's wrong with my idea?

Does anyone know how to implement robot's arm move forward while my arm also move forward?

thanks!

[chickenkai]

Do anyone know? Now I just want to control my robot's arms moving

forward while the kinect decting human's ams moving forward ?

thanks!

[l3v3rz]

Check out my C# code. It mixes Robosavvy code - its now been updated to V2 so will move the arms forward back as you need - with Microsoft Kinect demo code so you get the skeleton animation. All the key functions are in one file :

https://code.google.com/p/robobuildervc ... Kinnect.cs

Its built to work with custom firmware DCMP - but slight modification should work with standard firmware as well.

The main site has a video of the V1 code running (but that doesn't include forward arm movement)

https://code.google.com/p/robobuildervc/

[chickenkai]

thank you!

how do you recognize wether the arm is moving forward or not?

What is your algorithm? In which line of your code?

Because I'm not quiet understand your code! Ha Ha!

Thanks!

[l3v3rz]

The key functions are UpdateLeftArm and UpdateRightArm and AngletoWckPosition The clever maths was all done by Robosavvy. see thread
http://robosavvy.com/forum/viewtopic.php?t=8026

My understanding of it is that, for each arm it creates a vector, from shoulder to the elbow and then converts that into azimuth and elevations vectors, and then those into the appropriate servo angles. So yes it does no if the arm has moved forward.

One slight mod I have done is that it does the maths for each arm and then updates all 6 servo simultaneously. I'm thinking of adding is a "store" function so that I remember a set of move for later replay, but that still "in progress"

[chickenkai]

I have some question

What's the difference among UpdateRobobuilderArms, UpdateRightArm

and UpdateLeftArm ?

thanks!

[l3v3rz]

UpdateRobobuilderArms - updates both arms as per V1 algorithm a cubic function. In simiple mode it only calls this function.

In advanced mode its calls the the following functions
UpdateLeftArm = Updates left arm as per V2 function maths - includes forward back
UpdaterRght Arm = updates right arm as per V2 function

[chickenkai]

thank you!

Now I figure out your code!