For those interested, I posted in DOC-46889 the code that I developed for a Kinect Hackathon a year ago. The concept is that a robot arm that is not equipped with any feedback is controlled by the Kinect to pick an object and put it in a basket, no matter where the object or the basket are within the operation zone. In addition, the robot will operate only if a human is present, but not if the human "step" (actually, only put his hand) in the operation zone of the robot.
The code includes a USB driver for the OWI-535 toy robot. I also posted the driver separately and instruction in DOC-46880.
Feedback are most welcome.
And as always, if you're interested, please join the 3D Vision group.