Single axis manipulator control using machine vision and virtual reality technique

Main theme of this work is to present the concept of using ldquovision based commandsrdquo generation with an innovative way for process visualization of the industrial scene and realizing the process control. This work is mainly intended to meet the stringent requirements of the industry. The concept is used to guide the motion of the prototype single axis manipulator. A 2d visual servoing system (using MATLAB) is used to track the motion of a cylindrical shape stick with circular head, whose orientation is used to generate the visual commands. Visual servoing system is also interfaced with VR world to visualize the manipulator operation in virtual world.