Title :
Controlling a robotic arm in the 3D space with stereo vision
Author :
Szabo, Roland ; Gontean, Aurel
Author_Institution :
Fac. of Electron. & Telecommun., Politeh. Univ. of Timisoara, Timisoara, Romania
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.
Keywords :
cameras; dexterous manipulators; grippers; image colour analysis; stereo image processing; 3-degree-of-freedom; 3D coordinate system; 3D space; colored spots; grippers; motor control; robotic arm control; stereo cameras; stereo vision; Cameras; Computer vision; Image color analysis; Robot kinematics; Robot vision systems; Three-dimensional displays; 3D space; coordinate system; remote control; robotic arm; stereo vision;
Conference_Titel :
Telecommunications Forum (TELFOR), 2013 21st
Conference_Location :
Belgrade
Print_ISBN :
978-1-4799-1419-7
DOI :
10.1109/TELFOR.2013.6716380
