Aiming at problem of degree of freedom（ DOFs） convenient control of multiple rotating DOFs mechanical arm

an interactive control system connecting somatosensory device

Leap Motion with six DOFs mechanical arm is built. In model for somatosensory input and manipulator motion response

mechanical arm kinematics inverse solution based on geometry is used

propose a solution that add solving constraints and binary search solution of the optimal spatial pose of terminal grabber. This method has high operating efficiency and has intuitive solving process and can solve in logarithmic degree time. The simulation and physical experiment prove that the solution is capable to process large amount of data of somatosensory and implement function of manipulator reaction in realtime

which provides a feasible scheme for untouched somatosensory manipulator control.