SCORBOT-ER III robotic arm detection and control with color recognition with the possibility for using in sun tracker applications

Abstract

This work shows the control and detection in space of the SCORBOT-ER III industrial/educational robotic arm. The robotic arm has glued markers on the joints, which are distinguished using image processing techniques. These key points on the robotic arm are joined with lines, which are overlaid on the initial image. These lines fill in as direction for further mathematical calculations, which makes possible the controlling of the robotic arm. The robotic arm's position is recognized with stereo cameras, this way have the possibility to be controlled in the 3D space. The technique makes possible for the robotic arm to be controlled using only the information got from the cameras; preprogramming was not done. In the case that light tracker sensors are utilized, the mechanical arm can be used effortlessly as a sun tracker robot, to turn the solar panel toward the sun, along these lines expanding their effectiveness.