Download - Vision-Based Robot Control
![Page 1: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/1.jpg)
Vision-Based Robot Control
Bax SmithTerm 8 Electrical (CC)
![Page 2: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/2.jpg)
Outline
• How I came up with this project• Components of the project• Visual Demo• Conclusion
![Page 3: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/3.jpg)
Vision-Based Robot Control• Person: 5 Senses
Robot: 1 Sense• Person: Mobile
Robot: Mobile• Person: Can Grasp
ObjectsRobot: Can Grasp Objects
• Person: Intelligent• Robot: ?
![Page 4: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/4.jpg)
The Result: Sambuca
![Page 5: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/5.jpg)
Applications for Sambuca
• Get me beer from fridge
• Vacuum carpet• Mow the lawn• Give tours• Recycle!
Illustrates the point and Saves the environment!
![Page 6: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/6.jpg)
Components of Sambuca
• Vision System• Mobility System
• Intelligence System• Arm System
![Page 7: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/7.jpg)
Sambuca - Vision System
• Hardware: Webcam• The Problem:
Distinguishing Cans/Bottles from other things
• The Solution: Image Processing and Feature Extraction
![Page 8: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/8.jpg)
Sambuca - Mobility System
• Hardware: Electric Wheelchair Base
• Turns by reversing direction of wheel rotations
![Page 9: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/9.jpg)
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?
![Page 10: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/10.jpg)
Sambuca - Intelligence - FSM
• Scavenger - look for object
• Retrieval - grasp object
• Deliver - put in bin
START DETECT
GRABRELEASE
DONE
Scavenger Retrieval
Delivery
![Page 11: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/11.jpg)
Sambuca - Arm System
• RT200 Robotic Arm• Go to Point - Acknowledge
PC -Intelligence
RT200 Robotic Arm
Serial
![Page 12: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/12.jpg)
Sambuca in Action
![Page 13: Vision-Based Robot Control](https://reader035.vdocument.in/reader035/viewer/2022062310/56815bac550346895dc9ae76/html5/thumbnails/13.jpg)
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