Remote Manipulation of a Robotic Arm with 6 DOF via IBSV Using a Raspberry Pi and Machine Vision

Robotic systems are being used worldwide in different areas of human development such as: social, academic and even medical. Thus, the company WLKATA has developed a manipulator robotic arm of 6 DOF with a movement precision of 0.2 mm called Miro-bot, the same one that has been used in this research project. In this document, the implementation of an image processing system is carried out using OpenCv in a Raspberry Pi to determine the position in Cartesian coordinates of a cube and the end effector of the robotic arm located on a work area of 15 x 20 cm wide and tall, respectively. The movement of the robotic arm is manipulated through a servo vision (SV) based control system, combining the variants of position-based servo vision (PBVS) and image-based servo vision (IBSV). This system allowed the generation of displacement trajectories between the end effector and the cube with a minimum error of 1%, in addition, it was possible to demonstrate the versatility that Mirobot presents to be controlled with a Raspberry Pi card. Finally, it can be concluded that the characteristics of movement, precision, repeatability, speed presented by this robotic arm are of industrial characteristics, which favors the development of new control systems based on algorithms with hardware and free software, reducing the cost. of implementation.