Physical AI Perception-Reasoning-Action Pipeline for a Robotic Arm

Built and hardware-verified a SO-ARM101 control stack: real-time object detection via webcam (OpenCV) with tuned color/contour filtering, camera-to-robot coordinate calibration using forward kinematics, and inverse-kinematics-driven multi-joint arm control. The arm reliably performs coordinated multi-joint motion - base rotation, elbow, wrist, and gripper - with emergency-stop and dry-run safety modes, debugged down to the servo level for accurate, repeatable movement.