Robotic arm control in 3D space using stereo distance calculation

摘要

We shall present a robotic arm control method with stereo vision. No too many robots in the industry are controlled with a camera and the robots which are controlled with two or more cameras are even harder to find. We made a vision recognition application which can recognize certain key points on the robotic arm. These points are placed at the joints, over each motor. These points have different colors, so the recognition of them was a task of color recognition. After color recognition with analytical geometry we could compute the exact angle which is needed for each motor to move, For the 0X axis movement we used stereo distance calculation to know how much movement needs the robotic arm at the base joint.