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Robotic complex RH-1
Volodymyr Anisimov
Illya Khait
Idea
The idea of this project is to use computer vision techniques to
control a manipulator or other device that can provide workflows.
Functional scheme
Incoming data
a1 - distance between first and second rotary mechanism;
b - distance from the work surface to the first rotary mechanism;
b1 - distance from the second rotary mechanism to the grasping
mechanism;
d - distance between the manipulator rotation axis and the camera
focus axis;
h - is the distance between the work surface and the camera.
Output data
∠a2 - angle between a1 and b parts of construction;
∠с1 - angle between a1 and b1 parts of construction;
x - distance between the main axis (z) of the mechanical arm and
the point (x) of the object mass center on the work surface;
q - distance between the coordinate of the intersection with axis (y)
and the coordinate of the mass center along the axis (x);
a - distance between the point of object mass center and the main
axis (z) of the mechanical arm;
z_angle - axis (z) rotation angle of the manipulator;
Software and mathematic
● Creating a video stream;
● Definition of square areas (ROI);
● Video capture of an object or group of objects;
● Drawing the object contour;
● Calculation of the object center, object perimeter, object area;
● Calculation of the distance from the overall image center to the
center of the object;
● Calculation of conditional coordinates relative to the manipulator
location;
● Calculation of rotation angles of the manipulator actuators;
● Data transfer to the manipulator.
Robotics labaratory “RoboHouse” , Kherson
1. Computer with the camera.
● Receiving commands from the operator;
● Objects processing from the camera;
● Objects recognition;
● Rotation angles calculation for actuators;
● Data formation;
● Data transmission;
2. Manipulator
● Computer connection;
● Receiving a task in the form of a data packet;
● Task performance;
● Execution confirmation;