Object Following Control of a Robotic Camera Arm

The robot arm can be placed on a slider which is essentially a prismatic joint that allows motion in a single axis. In this particular example, a basketball is tracked by the camera.

As the first step of this project, kinematic model of the robot manipulator is derived. Then using the inverse kinematic equations, a given trajectory (shown by the red line) is followed while the camera (represented by the blue arrow) tracks the object.

Evidently, the trajectory that is followed can be altered as desired.