Model free control of a 2DOF robotic arm using video feedback

In this paper we present our approach on solving the positioning problem for the Tool Center Point (TCP) of a 2 Degrees of Freedom (DOF) robotic arm similar to the way a human solves positioning tasks. The presented method relies on visual feedback and angular positions of the elements and eliminates from the equation the need to know the elements lengths, contrary to classical robotics where positioning is done through the direct and inverse kinematics method. The paper presents hardware, software and the general architecture of the system and also the proposed positioning algorithm. The scope of this research is to expand the area where robotics can be used, toward unstructured environments, where with help of vision systems, robots can successfully complete tasks.