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This article focuses on researching how to control a 6-degree-of-freedom robotic arm to grasp objects whose positions and orientations have been identified through a camera. Here, the problems of forward kinematics and inverse kinematics for position and orientation are first solved. Then, measurements are taken, and a model of the 6-degree-of-freedom robotic arm is drawn in SOLIDWORKS, simulated in MATLAB, and an interface is written to control it via computers like the RASPBERRY PI 5. Finally, the OPENCV library is used to write a program on the computer so that the camera can recognize and transmit the object's position to PI 5 to control the robotic arm to grasp the object. Through experimentation, the results show that the robotic arm can grasp objects placed within the camera's working area.

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Research and Improvement of a 6-Degree-of-Freedom Robotic Arm Application of Camera for Object Grasping

  • 会议论文

  • 发表日期：

    2025年

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  • Anh-Dung Nguyen,
  • Khang D. Bach,
  • Dung D. Nguyen,
  • Huong C. Nguyen

摘要

This article focuses on researching how to control a 6-degree-of-freedom robotic arm to grasp objects whose positions and orientations have been identified through a camera. Here, the problems of forward kinematics and inverse kinematics for position and orientation are first solved. Then, measurements are taken, and a model of the 6-degree-of-freedom robotic arm is drawn in SOLIDWORKS, simulated in MATLAB, and an interface is written to control it via computers like the RASPBERRY PI 5. Finally, the OPENCV library is used to write a program on the computer so that the camera can recognize and transmit the object's position to PI 5 to control the robotic arm to grasp the object. Through experimentation, the results show that the robotic arm can grasp objects placed within the camera's working area.