Object Tracking with a 2 DOF Robot Arm Using Fuzzy Logic #MATLABHW2k16

Object tracking control for a 2 DOF robotic arm using fuzzy logic and image processing.

A 2 DOF robot arm is controlled by fuzzy logic in order to track a reference object, making use of two spheres of distinctive color. The implementation in Matlab of a fuzzy control, allows the robot to deal with the nonlinearities presented in this kind of systems, while it is also studied image recognition and 3D imaging from a single camera.
The main script, called “Two_DOF_RobotArm_ObjectTracking_FL.m” executes the fuzzy control for the robot, the Arduino commands and image recognition.

It should be pointed out that the basic Arduino scripts, to command servos and communication, are not provided. Besides, the program has been configured according to a particular set of camera parameters, which should be changed with other cameras.

https://www.youtube.com/watch?v=QsNcOCI0-Sc