Computer vision based object grasping 6DoF robotic arm using picamera

Abstract

This article presents a project to design a robust robotic arm which can perform multifunctional tasks. The controller of the manipulator is based on Arduino mega 2560 Microcontroller. The aim of the project is to focus all axes of manipulator to lift, carry and unload the objects at a desired location. This requires a precise drive motion control that incorporate electric motors as a drive system. Further experiments are done to implement a camera based 3D vision system integrated with a computer vision algorithm to recognize object deformation and spatial coordination to control the deviation from the original training. The 3D visualization systems are able to detect the objects as well as their distance from the End-effecter and transmit the signals to the drive system. The vision system requires a separate computing hardware capable of processing complex vision algorithms. We utilize Raspberry pi microcontroller for processing the vision data, separately making the vision system capable of recognizing the specified object as per program commands.