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Lynxmotion AL5 type robotic arm control with color detection on FPGA running Linux OS

This experiment presents a robotic arm control in the 3D space using marker detection. The markers have different colors, and are placed at the joints of the robotic arm. The colored markers are distinguished with image recognition algorithm using stereo cameras. The control platform is an FPGA development board running Ubuntu Linux 12.04 LTS graphical operating system. There were two implementations made with two FPGA development boards for comparison reasons. The first implementation was done with the ZedBoard and the second with the ZYBO board.