Real-time gesture-controlled robot spatial 3D printing

Published: 19 October 2023| Version 1 | DOI: 10.17632/j9f58grs7r.1
Chaoran Wang


This is a program file for real-time gesture-based control of spatial 3D printing by a robotic arm. Where the dataset is used to train the gesture recognition model, .3dm is the spatial rod model used in this paper for actual printing, and .gh is the program for the robot to print the spatial rod model (which contains the customised gesture recognition plug-in block described above).


Steps to reproduce

1. Taking gesture pictures using Kinect v2; 2. Expanding the dataset using image flipping, rotating, and random colours; 3. Use this dataset for gesture model training; 4. Using gestures to control 3D spatial model movement; (simulation experiment) 5. Real-time gesture control of robotic spatial 3D printing. (actual experiment)


Robotics, Spatial 3D Modeling, Gesture Recognition