Implementation of cascade classifier technique for gesture control of an ABB industrial manipulator

Abstract

There have been several attempts already made to control an industrial robot using hand gestures. The current work proposes a different methodology for controlling an industrial robot. Instead of having an external arrangement of controllers, the RobotStudio software which is compatible and intended for ABB robots, is maneuvered to achieve gesture control of robot by connecting it with python programming software. Here, a Python programming software with an OpenCV library is used to acquire coordinates of the hand gesture recognized with the help of Cascade Classifier technique. We have implemented Socket Programming between RobotStudio software and Python software for transmitting those coordinates to the robot and thus accomplish a real time interface between them.