Finding circles by an array of accumulators
Communications of the ACM
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
Robot Catching: Towards Engaging Human-Humanoid Interaction
Autonomous Robots
Mean Shift, Mode Seeking, and Clustering
IEEE Transactions on Pattern Analysis and Machine Intelligence
Experiments in Hand-Eye Coordination Using Active Vision
The 4th International Symposium on Experimental Robotics IV
The estimation of the gradient of a density function, with applications in pattern recognition
IEEE Transactions on Information Theory
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This paper presents a ball catching robotic arm system with 3DOF assembled from the commercially available parts. In the previous research work complex system were designed. We have designed a very simple arm and take the results of catching ball at different angles i.e we throw the ball towards robotic arm at different angles (40°,45°,50° and 60°) and get the results in our analysis we observed that the proposed system given its best results when the ball is thrown towards it at 40°. In this system, camera system is use to perceive the trajectory of the ball, the system detects the ball with the help of a fast mean shift algorithm. It calculates the shift of the mean of the identified color intensity and according to that it sends the control commands over the serial port to the robotic arm. The basic objective to catch the flying object at the expected location. After the analysis it is observed that the catcher robotic arm can catch the ball thrown to it from 5--6 meter with an average success rate of 70--75% when throw at 40° towards the arm.