This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based on color is carried out to observe error propagation in the implementation of manipulator on real system. The objects image captured by the digital camera were processed based on HSV-color model and the centroid coordinate of each object detected were calculated. These coordinates are end effector position target to pick each object and were placed to the right position based on its color. Based on the end effector position target, PD-PIJ inverse kinematics method was used to determine the right angle of each joint of manipulator links. The angles found by PD-PIJ is the input of DH forward kinematics. The process was repeated until the square end effector reached the target. The experiment of model and implementation to actual manipulator were analyzed using Probability Density Function (PDF) and Weibull Probability Distribution. The result shows that the manipulator navigation system had a good performance. The real implementation of color sorting task on manipulator shows the probability of success rate cm is 94.46% for euclidian distance error less than 1.2 cm.
A Technique for Deriving Equational Conditions on the Denavit-Hartenberg Parameters of 6R Linkages that are Necessary for Movability
Johann Radon Institute for Computational；Applied Mathematics Austrian Academy of Sciences (RICAM), Altenbergerstrasse 69, 4040 Linz, Austria；Research Institute for Symbolic Computation Johannes Kepler University, Altenberger Straße 69, A-4040 Linz, Austria
A Visual Kinematics Calibration Method for Manipulator Based on Nonlinear Optimization
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（华中科技大学人工智能与自动化学院）；School of Automation, South East University（东南大学自动化学院）
