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