Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning Near an Explosive Device

Andres Montoya Angulo, Lizardo Pari Pinto, Erasmo Sulla Espinoza, Yuri Silva Vidal, Elvis Supo Colquehuanca

Research output: Contribution to journalArticlepeer-review


This document presents an assisted operation system of a robotic arm for positioning near an explosive device selected by the user through the visualization of the cameras on the screen. Two non-converging cameras mounted on the robotic arm in camera-in-hand configuration provide the three-dimensional (3D) coordinates of the object being tracked, using a 3D reconstruction technique with the help of the continuously adaptive mean shift (CAMSHIFT) algorithm for object tracking and feature matching. The inverse kinematics of the robot is implemented to locate the end effector close to the explosive so that the operator can perform the operation of grabbing the grenade more easily. Inverse kinematics is implemented in its geometric form, thus reducing the computational load. Tests conducted with various explosive devices verified the effectiveness of the system in locating the robotic arm in the desired position.

Original languageEnglish
Article number100
Issue number5
StatePublished - Oct 2022

Bibliographical note

Funding Information:
With the support of the Universidad Nacional de San Agustín de Arequipa with the following contract N IBA-IB-27-2020-UNSA and UDEX-AQP; for the development of the project through the information collected and for their invaluable guidelines to explore the facets of this work.

Publisher Copyright:
© 2022 by the authors.


  • assisted operation
  • explosive device
  • robotic arm


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