Robotic-Arm-with-Shape-recognition

This was a project done for the class CEG 4158 (Computer Control in Robotics) in which we were required to determine both the kinematic equation and inverse kinematic equation for a 5 jointed robotic arm.



This robotic arm was controlled using MATLAB and featured two camaras for remote use. Using these cameras, a shape recognition algorithm was developeed to identify four shapes: a circle, square, rectangle, triangle.



This image processing also determines the position and orientation of the objects.



These calculations can then be used in the previously developed inverse kinematitc to calculate proper joint movements for the arm to move and pick up the object.