Control of a 4 DOF Scara Robot Manipulator via Image Based Visual Servoing

Abstract

In this work, we aimed to use vision-based feedback in order to control our 4 DOF SCARA manipulator presented in our engineering project. We first presented the need for vision in robotics in general and in particular with our prototype. We subsequently discussed the basics of image processing relative to our work. Visual servoing is then defined in addition to its theoretical basis and declination. Finally, we retrace the steps to our attempt at a look-and-move application with our robot using ArUco markers and OpenCV.