Video based control of a 6 degrees-of-freedom serial manipulator

This paper presents a video based control system for a Fanuc M-6iB/2HS articulated robot. The system uses a CMUCam3 video camera connected to PC. The industrial robot is controlled via the TCP/IP protocol using a custom simulation software created in previous researches for the industrial robot. The simulation software implements additional classes designed to control and monitor the video camera. The paper presents in detail the calibration and testing stages. The system is capable to detect cylindrical objects of any stored color and is able to determine their position in the working space of the robot.