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Advances in Human-Computer Interaction
Volume 2016, Article ID 7921295, 10 pages
Research Article

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

1Control and Energy Management Laboratory (CEM-Lab), National School of Engineers of Sfax, Sfax, Tunisia
2Digital Research Center of Sfax, Technopark of Sfax, BP 275, Sakiet Ezzit, 3021 Sfax, Tunisia

Received 30 November 2015; Revised 24 May 2016; Accepted 7 June 2016

Academic Editor: Alessandra Agostini

Copyright © 2016 Ismail Ben Abdallah et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case) or trajectory generation based on feedback sensors (active robots case). However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE), a developed human-machine-interface (HMI) allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK) provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.