Principal component analysis for 3D-manipulator robot control system

In this paper, a shape recognition technique for a 3-DOF manipulator robot control system is proposed. This work is devised into three parts. First, the shapes were recognized under the Principal Component Analysis (PCA) algorithm and the shape´s characteristics (position and orientation) were extracted and stored in the PCA-bases. Second, based on the Graphical User Interface (GUI) tool, a simulation on 3D-space of the 3-DOF manipulator robot was performed. Finally, the PCA-bases were applied as a command-signal to the 3-DOF manipulator robot control system. Several shapes were considered and tested to verify the method.