jaco_robot_arm_control

Control Jaco Robot arm's hand position by human hand position using kinect

Installation

Environment: ubuntu:16.04 ROS:kinetic

Pre-install:

sudo apt-get install expect ros-kinetic-rosconsole* ros-kinetic-moveit* ros-kinetic-trac*

Download files

git clone https://github.com/jackietom/jaco\_robot\_arm\_control.git

cd jaco\_robot\_arm\_control/

Recompile HandTrack workspace

cd HandTrack

rm -r build && rm -r devel

catkin\_make

Recompile control_ws2 workspace

cd ../control\_ws2 
rm -r build devel
catkin\_make

Usage

You need to open 3 terminals(or use tmux) and connect your kinect V1 to PC

1. Go to jaco_robot_arm_control/control_ws2

run

roslaunch j2n6s300\_moveit\_config j2n6s300\_virtual\_robot\_demo.launch

2. Go to ~/Documents/SummerResearch/jaco_robot_arm_control/HandTrack

run

rosrun beginner\_tutorials talker

Shake your hand in front of the camera after '16' printed on the screen to calibrate.

3. Go to jaco_robot_arm_control/control_ws2

run

rosrun kinova\_arm\_moveit\_demo motion\_plan2

Wait for about 10 ~ 30s for RViz to initialize the position of the arm.

Up to now, the arm can move slowly as human hand. There are still many things needed to be done. Any suggestions can be written in issues or sent to zhang-py@mails.tsinghua.edu.cn