Simulation-of-Vision-Based-Manipulator-Control-Algorithms-in-Matlab

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Simulation-of-Vision-Based-Manipulator-Control-Algorithms-in-Matlab

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Simulation of Vision-Based Manipulator Control Algorithms using RoboticsToobox in Matlab

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# Simulation of Vision-Based Manipulator Control Algorithms using RoboticsToolBox in Matlab

|![image](https://github.com/JiadingWen/Simulation-of-Vision-Based-Manipulator-Control-Algorithms-in-Matlab/blob/master/img/ScreenShot1.gif)|![image](https://github.com/JiadingWen/Simulation-of-Vision-Based-Manipulator-Control-Algorithms-in-Matlab/blob/master/img/ScreenShot2.gif)|
| - | :-: |

<p align="center">Find target, Point target</p>

***

## Introduction
This project mainly simulates four Manipulator control algorithms:

1. Linear Camera Space Manipulation (**LCSM**)
2. Image-Based Visual Servo with monocular vision system (**Monocular IBVS**)
3. Image-Based Visual Servo with binocular vision system (**Binocular IBVS**)
4. Position-Based Visual Servo with binocular vision system (**Binocular PBVS**)

These algorithms are applied to a 6R PUMA robot manipulator using Robotics Toolbox.

## Prerequisites
Before running code, make sure you have **Robotics Toolbox** installed in Matlab.

> [Robotics Toolbox (RTB)](http://petercorke.com/wordpress/toolboxes/robotics-toolbox) is a useful Matlab toolbox, which provides functions related to robotics. You can click the link to download RTB and install it.

All codes have **Only** been tested on 
* Windows10 1809 
* Matlab R2018b 
* Robotics Toolbox 10.3.1

There is no guarantee that the codes have good compatibility in other versions.

## Usage
Four folders in the repository represent four control algorithms.

Double-click `Main.m` in the each folder to start simulation of corresponding control algorithm.

***

That‘s simple~ Enjoy playing robot!!

:star: Star us on GitHub — it helps!

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