Vision based 3-D position control for a robot arm

Abstract

This paper presents a 3-D position control for a robot arm. The system contains a fabricated robot arm, a pair of charge-coupled device (CCD) cameras, and a computer. The inverse kinematics (IK) concept is utilized to manipulate the robot arm. The two-CCD vision geometry is utilized to measure the practical 3-D position of the robot arm's tip. Furthermore, a fuzzy position error compensator is added to adjust the target position for the IK technique such that the position accuracy can be guaranteed. The experimental results demonstrate that the robot arm can position its tip at the desired position accurately.