Robotic arm movement using color detection with FPGA vision

This paper presents a new method how to detect a robotic arm´s position. The robotic arm has blue squares glued on key parts (on joints). A camera with color detection software can detect the blue squares and this way detecting the whole robotic arm. If we join the detected colored squares with straight lines, we can create the skeleton of the robotic arm. The color detection is made with special algorithm using the Spartan-6 FPGA from the ATLYS development board and the VmodCAM camera from Digilent.