Vision-based kinematic analysis of the Delta robot for object catching

SUMMARY This paper proposes a vision-based kinematic analysis and parameters identification of the proposed architecture, designed to perform object catching in real-time scenario. For performing inverse kinematics, precise estimation link lengths other needs be present. Kinematic Delta based upon Model10 implicit model with ten using iterative least square method is implemented. The loop closure equations have been modelled. In this paper, robots do discussed. A predefined library ArUco used get unique solution kinematics moving platform respect fixed base. re-projection error while doing calibration vision sensor module 0.10 pixels. Proposed architecture interfaced hardware PID controller. Encoders are quadrature resolution 0.15 degrees embedded experimental setup make system closed -loop (acting as feedback unit).