Welcome to DOFBOT SE repository

Finger Control Robotic Arm

1. Introduction

The finger control robotic arm function is based on finger control, with the added capability of controlling the robotic arm's vertical movement.

2. Finger Control

Press the [F key] to switch recognition effects. Through the distance between the thumb and index finger (open/close), you can control the image effect.

2.1. Startup

• Enter the following command to start the program

xxxxxxxxxx
ros2 run dofbot_mediapipe 18_HandCtrlArm 

Now place your fingers in the camera frame. The current finger open/close percentage will be displayed. When the percentage is less than 40, the robotic arm moves downward. When the percentage is greater than 50, the robotic arm moves upward.

Press Ctrl+c in the terminal to exit the program.

2.2. Source Code

Source code location:

xxxxxxxxxx
/home/yahboom/dofbot_ws/src/dofbot_mediapipe/dofbot_mediapipe/18_HandCtrlArm.py

​x
#!/usr/bin/env python3
# encoding: utf-8
import math
import time
import cv2 as cv
import numpy as np
import mediapipe as mp
import rclpy
from rclpy.node import Node
from Arm_Lib import Arm_Device
from threading import Thread
​
class HandDetector:
    def __init__(self, mode=False, maxHands=2, detectorCon=0.5, trackCon=0.5):
        self.tipIds = [4, 8, 12, 16, 20]
        self.mpHand = mp.solutions.hands
        self.mpDraw = mp.solutions.drawing_utils
        self.hands = self.mpHand.Hands(
            static_image_mode=mode,
            max_num_hands=maxHands,
            min_detection_confidence=detectorCon,
            min_tracking_confidence=trackCon
        )
        self.lmDrawSpec = mp.solutions.drawing_utils.DrawingSpec(color=(0, 0, 255), thickness=-1, circle_radius=15)
        self.drawSpec = mp.solutions.drawing_utils.DrawingSpec(color=(0, 255, 0), thickness=10, circle_radius=10)
​
    def get_dist(self, point1, point2):
        x1, y1 = point1
        x2, y2 = point2
        return abs(math.sqrt(math.pow(abs(y1 - y2), 2) + math.pow(abs(x1 - x2), 2)))
​
    def calc_angle(self, pt1, pt2, pt3):
        point1 = self.lmList[pt1][1], self.lmList[pt1][2]
        point2 = self.lmList[pt2][1], self.lmList[pt2][2]
        point3 = self.lmList[pt3][1], self.lmList[pt3][2]
        a = self.get_dist(point1, point2)
        b = self.get_dist(point2, point3)
        c = self.get_dist(
 Gesture Grasp and Release Objects
Introduction to AI Large Model Voice Module