5DOF-Robotic-Arm-Ultraleap

Gig Project: Controlling a 5-DOF AR4 Robotic Arm via Ultraleap Hand-tracking Camera

Declaration

• Ultraleap Python SDK files mentioned are taken as reference from https://github.com/ultraleap.

Software Requirements

1. Install Python version 3.8.x only

2. Install the latest Ultraleap Gemini for desktop version (https://leap2.ultraleap.com/downloads/leap-motion-controller-2/)

3. Install Germini LeapC Python Bindings from Github (https://github.com/ultraleap/leapc-python-bindings)

4. Type the following commands in cmd for libraries installation:

   • pip install build
   • pip install cffi
   • pip install opencv-python
   • pip install numpy
   • pip install pyserial
   • pip install leapc-python-api

5. Replace the original visualiser.py file in C:\Users\Intel NUC\Desktop\leapc-python-bindings-main\leapc-python-bindings-main\examples with this modifed code that is stored in the hand tracking program directory.

6. Add the pyduino.py into C:\Users\Intel NUC\Desktop\leapc-python-bindings-main\leapc-python-bindings-main\examples

7. Go to this directory using cmd

   • C:\Users\Intel NUC\Desktop\leapc-python-bindings-main\leapc-python-bindings-main\examples
   • type the following command to start the program of controlling the robot arm:
   • python visualiser.py

Troubleshooting

1. Import error: cannot import leap as "something"

• Go to this directory below and copy all the python files

• C:\Users\Intel NUC\Desktop\leapc-python-bindings-main\leapc-python-bindings-main\leapc-python-api\src\leap

• Go to this directory below, delete all the python files and paste the previously copied python files here

• C:\Users\Intel NUC\AppData\Local\Programs\Python\Python38\Lib\site-packages\leap

2. Attribut error: COMX cannot be found

• Go to Device Manager> Ports
• Check the COM number of the USB serial device of Teensy 4.1
• Go to this python file C:\Users\Intel NUC\Desktop\leapc-python-bindings-main\leapc-python-bindings-main\examples\pyduino.py
• Go to line 11 of the python file and change the COM number
• Remember to save the python file!

IMPORTANT!

• Opening the visualiser.py and the AR4_teensy_serial_communicator.ino file at the same time are disallowed
• Only open one file to run which is the python file, visualiser.py
• Close other unecessary windows, especially the AR4_teensy_serial_communicator.ino

3. Teensy program

• Go to this INO file
• C:\Users\Intel NUC\Desktop\leapc-python-bindings-main\leapc-python-bindings-main\examples\AR4_teensy_serial_communicator
• Upload the program to the Teensy 4.1
• Close the INO file once the program is uploaded

Reminder

• Power the robot arm first before initializing the python program
• The robot will automatically go to the reset mode, each motor touches its limit switch
• Once reset is done, initialize the python program
• When robot arm is not in used, please replug the power port for resetting its position
• Press "x" to terminate the visualiser.py while being in the cmd where you initialize the program.