Planer Tracking of Human Arm by Analytical Solution Implemented with GUI Package

Abstract

Planer tracking of human arm is an important technology in synthetic environments, robotics, and other human–computer interaction applications. This paper presents a design of propose GUI package for planer tracking of human arm based on analytical solution of inverse kinematics problem (IKP) and forward kinematics. The planer tracking implemented by three choices: the first by consider the position of mouse pointer on screen within certain envelope as end-effector to solve the IKP and calculate the angles of the human arm joints (the shoulder, the elbow and the wrist) to arrive this end-effector. The second by select any values for joints angle and using the forward kinematics with real constrains of human arm motion to reach for end-effector. The last one achieved by selecting the values of radius and orientation of end-effector and then using the geometric solution to find the suitable values for joints angle to implement this motion. All these solution of planer tracking implanting by design GUI window under MATLAB Ver. R2009b and satisfied results are obtained, that explains the ability of the proposed package to implement the planer human arm tracking with different methods.