Vision Based Manipulation of a Regular Shaped Object

This paper proposes to attempted is to manipulate an object by a set of three contacts (fingers) i.e. three end effector of the delta robots. As the point of contact with the finger and object changes dynamically, making the problem to have a large degree of variability.This proposal is limited to direct feedback of the object position with respect to the world coordinates and interfacing with the delta robot controlling in real time environment.Detection of markers by three cameras is achieved using ArUco augmented reality library. Experimental results are presented to support the approach in this paper.