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Based on a 2-DOF manipulator, this paper realizes a closed loop control system by adding image transmission module and image processing module to an semi-closed-loop networked control system. The camera calibration and end-executor recognition are carried out on the server. According to the result of calibration, coordinates of the end-executor in a fixed reference frame are computed, and the image and coordinates are sent to the client, the client displayed the image and compensated the error of the end-executor at the same time. In such a way an Internet and vision feedback based robot arm control system is established. Actual experimental implementation demonstrates the satisfactory results.