Pratheepan Guna

This project presents a design procedure of a 3d tracking capacitance-based ROS-controlled robot arm. A Robot Operating System (ROS) was modelled to control the robotic arm with 4 degrees of freedom (DOF) to imitate the virtual (Simulation) to reality. ROS is middleware upon which robotics systems can be developed or constructed. The basic controlling operation can be categorized into two sections. The initial process begins with RVIZ simulator control and then control by 3D Cartesian coordinates given by ROS commands to control the arm. The arm covers a quarter sphere with a radius of approximately 31 cm. A capacitive-based 3D tracking mechanism was used to control the robotic arm and update the Simulator by detecting hand gestures. The hand gesture movement was limited with-in 𝟏𝟐 × 𝟏𝟐 × 𝟏𝟐 𝐜𝐦𝟑 cubic box