tracking system
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salem.mashaqbeh
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Posts: 1
Joined: Nov 2010
#1
06-11-2010, 03:13 PM


hi,
i want help in my project and implimentation.it is manipulator tracking and grip opject using image processing by matlab.
i need image processing matlab code and inverse kinematic code.


my manipulater puma and 6DOF .

plz i need hep.
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seminar surveyer
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#2
15-11-2010, 10:23 AM


MATLAB
MATLAB is a high-level language and interactive environment that enables you to perform computationally intensive tasks faster than with traditional programming languages such as C, C++, and Fortran.
Although MATLAB is intended primarily for numerical computing, an optional toolbox uses the MuPAD symbolic engine, allowing access to symbolic computing capabilities. An additional package, Simulink, adds graphical multi-domain simulation and Model-Based Design for dynamic and embedded systems.

Matlab code for image processing
Im1 = Image(:, 1:cmax-1); % Miss off the rightmost column
Im2 = Image(:, 2:cmax); % Miss off the leftmost column
Diffs2 = Im2 - Im1; % Subtract pixel values

maximum_difference = max(max(abs(Diffs-Diffs2)))
maximum_difference =
0

Inverse kinematics
The inverse kinematics problem is simply stated as, "Given the desired position of the robot's hand, what must be the angles at all of the robot's joints?" This is in contrast to the forward kinematics problem, which is, "Given the angles at all of the robot's joints, what is the position of the hand?"
Humans solve the inverse kinematics problem constantly without conscious effort. For example, when eating cereal in the morning, humans reach out for their spoons without considering the relative configuration of their shoulder and elbow required to reach the spoon.

References:
cogs.susx.ac.uk/users/davidy/compvis/matlab_demos/intro_demo.html
en.wikipediawiki/Inverse_kinematics


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