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This paper presents the development of vision-based robotic arm manipulatorcontrol by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ)kinematics and Denavit Hartenberg forward kinematics. The task of sortingobjects based on color is carried out to observe error propagation in theimplementation of manipulator on real system. The objects image captured by thedigital camera were processed based on HSV-color model and the centroidcoordinate of each object detected were calculated. These coordinates are endeffector position target to pick each object and were placed to the rightposition based on its color. Based on the end effector position target, PD-PIJinverse kinematics method was used to determine the right angle of each jointof manipulator links. The angles found by PD-PIJ is the input of DH forwardkinematics. The process was repeated until the square end effector reached thetarget. The experiment of model and implementation to actual manipulator wereanalyzed using Probability Density Function (PDF) and Weibull ProbabilityDistribution. The result shows that the manipulator navigation system had agood performance. The real implementation of color sorting task on manipulatorshows the probability of success rate cm is 94.46% for euclidian distance errorless than 1.2 cm.

Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg