2D robot arm simulation with using leap motion

In this study, the user gives Leap Motion and desired points where the robot arm must move in real time from the outside. With the aid of these points, first, in order to provide motion of the robot arm, there are free variables with inverse kinematics and then Cartesian coordinates of the robot arm with forward kinematics. A 2D robot simulation with two degrees of freedom was created in the LabVIEW Program, based on the top view, because the RRP type robot arm with three degrees of freedom stays on a constant plane along the z-axis of motion. The movement of the robot arm that has two degrees of freedom only was controlled using kinematic methods. By using the Denavit-Hartenberg method, robot arm parameters with two degrees of freedom were determined and by using these parameters, forward and inverse kinematic models were created in LabVIEW program. By using the position information obtained by Leap Motion, the values that the joint angles can take in the inverse kinematic model are calculated in the LabVIEW program. The solutions derived from the inverse kinematics problem were substituted in the advanced kinematic model and the most appropriate solution was taken as the approximate position of the robot arm. The errors between the Cartesian coordinates of the robot arm obtained from Leap Motion with n includes position datas and the kinematic calculations in the LabVIEW Program were calculated using the Mean Absolute Percentage Error(MAPE) in two dimensions.