Robotic arm autonomous movement in 3D space using stereo image recognition in Linux

摘要

This paper presents a robotic arm autonomous movement in the 3D space using image recognition techniques. The aim of the paper is to present the used algorithm which does the movement calculations. Not too many robotic arms have cameras which control them, most of the robotic arms have cameras which recognize the targeted object, but not the arm it's self. This algorithm uses not one, but two cameras to control the robotic arm, which makes the application even more interesting. The image recognition is done using the OpenCV toolkit included in C++ programming language on Ubuntu Linux operating system. The movement calculation is done in real-time using image recognition. The used robotic arm is an AL5A Robotic arm from Lynxmotion, but the movement computation algorithm can be used on any type of robotic arm.