This bachelor's thesis presents a predictive visual servo kinematic control scheme for 4 degrees of freedom (DOF) robotic manipulators to perform automatic capture of a moving target on a 2D plane. The algorithm includes photogrammetry, the Kalman filter, and Euler rotation. The photogrammetry will calculate the object's state information, including position and velocity, and use the Kalman filter to estimate the future states of the object. Euler rotation will be used to calculate the object's position where the predicted trajectory of the object intersects the workspace of the robotic manipulator and the time it takes the object to move to that position. From the results of the proposed predictor, the trajectory of the manipulator will be adjusted with each sampling cycle, and the end-effector of the manipulator moves towards the predicted position of the target. In order to evaluate the effectiveness of the proposed method, some simulation and experiment results are implemented on the 4-DOF manipulator.

Stereo camera, Catching Robot, Kalman Filter, Predict Trajectory