Controlling a robotic arm in the 3D space with stereo vision

Abstract

This paper presents a method how to control a robotic arm in 3D space using only a pair of stereo cameras. The robotic arm has 3 degrees of freedom which means we have to control very precisely 3 motors. These motors will be controlled exactly as much is needed to reach the desired object. The robotic arm is detected in the 3D space with some colored spots. At the end of the gripper a 3D coordinate system is made, which helps to calculate how much movement is needed by each of the motors to reach the desired object.