  This paper uses Model Predictive Control (MPC) to optimise the input torques
of a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to the
target position and grasp the object accurately. A monocular camera is firstly
used to recognise the colour and depth of the object. Then, the inverse
kinematics calculation and the spatial coordinates of the object through
coordinate transformation are combined to get the required rotating angle of
each servo. Finally, the dynamic model of the robotic arm structure is derived
and the model predictive control is applied to simulate the optimal input
torques of servos to minimize the cost function.
