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This project is written in Python and html.

Library used listed below: OpenNI -- for Kinect and Skeleton PyQt -- GUI PySerial -- Serial access

Program Files

MicRobotMain.py This is the main file for program logic, including the refresh of GUI, skeleton retrieving and robot.

MicRobot.py Code for control the robot.

KinectSensor.py This part is the code to call OpenNI library.

html/ In thif folder, it is the interface for 3D robot simulator. WebGL is used for quick 3D view.

Thread Models

We use 3 threads to process the logic of program, for fully use the hardware and avoid any stuck of GUI..

  1. Main thread This is the main GUI thread.

  2. KinectRefresh thread This thread will update the skeleton information and refresh image frame and depth image frame.

  3. RobotRefresh thread This thread read data written by KinectRefresh thread or by user manully dragging of simulator angles, and write angle infromation to serail.

Robot and Firmware

Robot is a 3D printing project, started by Ben-Tommy Eriksen on Thingiverse and rebuild by Holger O., mine work http://www.thingiverse.com/thing:234482 is based on their great effort and made my own modification. The firmware is totally rewritten by us:

https://github.com/intijk/armrobot