Society of Robots - Robot Forum
Electronics => Electronics => Topic started by: nachi on November 14, 2007, 09:16:36 PM
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hi
I am searching for a vision system which can give me X Y coordinates of the tip of moving robot arm.
I am building up a dual arm planar space robot setup. All I need is to move the the two robot arms attached to the single mobile base to move from one point to target point along a apecified trajectory. The vision system should give me the XY coordinates of the tip of both the arms, as well as the the base center of gravity, so that I can give the corrective signals to the motors in case of any deviation from target point.
Can using 4 ultrasonic sensors solve my problem?
Also, can the desired system be build using normal Webcam and roboralm software, if yes,.. how?
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can the desired system be build using normal Webcam and roboralm software
yeap
download the software and play around with it for a bit. its pretty easy to learn.
this is exactly how to do it step by step:
http://www.roborealm.com/tutorial/Path_Planning/slide010.php
(instead of a mobile robot, program the gripper on your arm to move that trajectory instead)
have you started building the robot arm yet?
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hi...Thanks for the quick reply...
I am sending the photo of the current setup. Right now only one arm is attached to the wooden base. I have to fix up another arm to the base. The base is free to move as it is supported over rollers. So whenever there is motion of one arm the base gets disturbed . I am supposed to control this base disturbance , only the attitude base disturbance need to be controlled This will be achieved by equal and opposite motion of the second arm. For the motion of arm I send commands to the servo motors attached to the joints of robot arm using matlab software. The microcontroller used is PIC16f84. All I need is to locate the xy coordinetes of robot arm tip so that using inverse kinematics i can find the desired joint anlges and carry out further control process.
Can i access the output data ( XY coordiantes) from the roborealm software in matlab.
what is the bast suitable web cam for the purpose. I need to scan a total area of 10 sq.ft (2.5 X4 ft).
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http://www.roborealm.com/forum/index.php?forum_id=1037
First hit on google:
Can i access the output data ( XY coordiantes) from the roborealm software in matlab.
what is the bast suitable web cam for the purpose. I need to scan a total area of 10 sq.ft (2.5 X4 ft).
depends on the resolution you want . . . just do the math of resolution vs distance, then look at the webcam spec sheets. I use a cheap $30 logitech for my robot vision stuff . . .