Ok. Now that I have figured out how to slow down a servo motor. I need help with inverse kinematics coding.

I am using an AL5A robotic arm and I am programming it via Matlab. The idea is to use a webcam that will recognize the tools and direct the robot to pick up the tools and sort them.

I can do the image recognition using Matlab via normxcorr2 function.
However, I need help on inverse kinematics. I need to tell the robot where the tools are so the robot can go ahead and proceed.

I am sending ASCII codes to the servo motors to make them run. I know I need to tell the robot what the coordinates of the tools are. But how can I find that out when the tools' placement is going to vary? So if I can tell them, how do I change the direction of the servo motor (just the base one so it can move there and pick up the tool).

Quick help will be appreciated.

 

Oh, thats simple.

just kidding. are you using an on board camera or a stationary camera? And are you using black and white? (hopefully)

 

I am using a webcam. But I have to convert the image from RGB to gray using the matlab built in function rgb2gray.