Robotic arm control with stereo vision made in LabWindows/CVI

This paper presents a robotic arm control system with stereo vision. Two cameras are used to detect the robotic arm movement in space. Upon this detection the robotic arm is controlled and moved in the desired place. The robotic arm has special markings made from colored bottle stoppers. These colored spots are detected with the color recognition algorithm and this way the robotic arm´s position is recognized. These colored spot are united with straight lines and this way the skeleton of the robotic arm is created and the data is introduced in the PC. Overlays of lines and circles are created and after mathematic calculations the precise position of the motors is calculated in order to reach the desired position. The first camera is used to calculate the position of the arm on the 0Y and 0Z coordinates and the second camera is used calculate the position or the arm on 0X coordinate.