Vision-Based Robot Control - PowerPoint PPT Presentation

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Vision-Based Robot Control

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  1. Vision-Based Robot Control Bax Smith Term 8 Electrical (CC)

  2. Outline • How I came up with this project • Components of the project • Visual Demo • Conclusion

  3. Vision-Based Robot Control • Person: 5 SensesRobot: 1 Sense • Person: MobileRobot: Mobile • Person: Can Grasp ObjectsRobot: Can Grasp Objects • Person: Intelligent • Robot: ?

  4. The Result: Sambuca

  5. Applications for Sambuca • Get me beer from fridge • Vacuum carpet • Mow the lawn • Give tours • Recycle!Illustrates the point and Saves the environment!

  6. Components of Sambuca • Vision System • Mobility System • Intelligence System • Arm System

  7. Sambuca - Vision System • Hardware: Webcam • The Problem: Distinguishing Cans/Bottles from other things • The Solution: Image Processing and Feature Extraction

  8. Hardware: Electric Wheelchair Base Turns by reversing direction of wheel rotations Sambuca - Mobility System

  9. Sambuca - Intelligence System • What to do if it sees an object? • How far away is the object? • Is on the left or right? • What about multiple objects? • How to get to the object?

  10. START DETECT Retrieval Scavenger GRAB RELEASE Delivery DONE Sambuca - Intelligence - FSM • Scavenger - look for object • Retrieval - grasp object • Deliver - put in bin

  11. Serial RT200 Robotic Arm PC - Intelligence Sambuca - Arm System • RT200 Robotic Arm • Go to Point - Acknowledge

  12. Sambuca in Action

  13. Conclusion • Finds and distinguishes objects very well • Tracks and follows targets very well • Arm could do with its own vision system • Mobile Base could do with its own Control System/Encoders