Real-Time Object Tracking System For 2-Degree Of Freedom (DOF) Robotic Arm

Mohd Anis, Mohamed (2014) Real-Time Object Tracking System For 2-Degree Of Freedom (DOF) Robotic Arm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 pages) Real-Time Object Tracking System For 2-Degree Of Freedom (DOF) Robotic Arm 24 Pages.pdf - Submitted Version Download (596kB)

Abstract

This project is about a Real-Time Object Tracking with 2 Degree Of Freedom (DOF) robotic arm. Object tracking is a technology related to machine vision or image processing by detecting an instances of specific objects. The main goal of this project is to design and develop an accurate target tracking system using a camera. The robot will continuously track a target with a camera mounted on its 2-Degree Of Freedom (DOF) robotic arm. The images frame acquired or captured by webcam will be processed using by MATLAB algorithm, where the selected moving object will be detected and tracked. The centroid of the object will be located and MATLAB will compute and transform the centroid position (pixels) into pan-tilt servos. This information will be fed to the Arduino, which is used to manipulate the pan-tilt servos to continuously track the moving object using PID controller. PID controller will enhance the pan-tilt servos responsiveness and movement aggression to track an object in real-time with minor delay. This project has a capability of sustainable to improve the system control and functions until it can be produce as a product of robotic in market to help people and also as a facility to society.

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