Prototype robotic arm assisted by smart CMOS vision chips

This work presents the computational modules that control a robotic arm system. These modules are: 1) an early self-organizing algorithm, which is in charge of coordinating the movement in three dimensions of this mechanical arm and, 2) a center-of-mass algorithm implemented by two vision CMOS silicon chips that estimate the position of a target object relative to the tip of the arm. To probe and to validate the functionality of the above modules working together an emulation program was created.