Implementation of a Stereo vision based system for visual feedback control of Robotic Arm for space manipulations

Abstract

The paper discusses the visual servo loop including the stereo vision algorithms which are used to determine the co-ordinates of the target., derivation of DH parameters and the development of inverse kinematics matrix and solutions for a proto three degree of freedom robotic arm on which the stereo vision system was tested. The prototype robotic arm reaches to a target to well within 2cm.