Full 3D Robotic Arm Control with Stereo Cameras Made in LabVIEW
In this paper we shall present a full application made in LabVIEW, which can control a robotic arm. The control is made upon image recognition system. The image recognition library is the NI Vision Development Module, which has all the tools necessary to create industrial computer vision applications. LabVIEW was also a good choice, because it has integrated a lot of interface drivers. We used the VISA (Virtual Instrument Software Architecture) driver for controlling the robotic arm on the RS-232 interface , . We also have a very friendly GUI (Graphical User Interface) and a very friendly graphical programming environment. Our algorithm is to detect certain key parts of the robotic arm, then unite tem with straight lines, create the robotic arm's skeleton and introduce the data in the PC. After this, with some mathematical calculations we can compute exactly the angles needed to be moved by each motor to move the robotic arm in the desired point in the space. The Joints of the robotic arms are detected with color recognition algorithm. We placed colored bottle stopper over each Joint that interested us and recognized it with color filtering, this way we had extracted from the capered image that key points which we needed. (original abstract)
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