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Robotic Arm With Computer Vision

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maitrik patel

on 31 July 2012

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Transcript of Robotic Arm With Computer Vision

Robotic Arm
Computer Vision Developed by
(07cp612) Guided By
Prof Hetal Gaudani G H Patel College of
Engineering & Technology
Computer Department Project Defination To designed a Robotic Arm
Programmed Arm such A way that it can operate through computer.
Design a GUI base Software Which can use to operate robotic arm.
Provide Arm a vision using a camera. Porpuse of project overview Tools & Technology Implementation
Module Flow Diagram Conclusion The main purpose behind this project is to give Flexibility to Hunam .
Human can perfrom its various task by sitting in any place around the world.
It providing a camera interface so User can see the actual real view of the place and than operate the robot. Scope of the Project There is vast scope of this project.
If we convert it to wireless version it can be operate through mobile or computer from anywhere.
If we provide a robot control car , it can be use for doing day to day work of house as a pet. Objective There are three main Objective to complete this project.
1. Modify Robotic Arm for control it through computer.
2.Design A camera control which can provide vision in any direction.
3.Design easy and understandable GUI for user to operate Arm and camera. Tools and Technology Hardware
1.Owi Robotic Arm
2.Wii Nunchuck
3.Logitech Camera
4.Ardunio Controller Board
5.Servo Motor Software
1.Ardunio sketch
2.Processing sketch
3.VLC player Hardware Owi Robitic Arm Wii nunchuck Ardunio board Logitech Camera Servo Motor Command the robotic arm gripper to open and close. Radial wrist motion of 120°
An extensive elbow range of motion of 300°
Base rotation of 270°
Base motion of 180°
Vertical reach of 15 inches, horizontal reach of 12.6 inches and lifting capacity of 100g.
Some of the added features include a search light design on the gripper and an audible safety gear indicator is included on all 5 gear boxes to prevent potential injury or gear breakage during operation.
Total command and visual Using the "5's", five-switch wired controller, 5 motors, 5 gear boxes, and 5 joints. Features of the accelerometer are:-

- 2.4V to 3.6V single supply operation
- Low power consumption
- +-2g full-scale
- 0.5mg resolution over 100hz bandwidth
- Embedded self test
- Output voltage, offset and sensitivity ratio metric to the supply voltage
- High shock survivability Web Camera Type: Personal Web Camera
Image Sensor Type:CMOS
Interface Type: USB
Still Image Capture Resolution: 640 x 480
Video Capture Resolution: 640 x 480 • 320 x 240
Digital Video Capture Speed: 30 frames per second
Audio Support: Without Microphone
Resolution: VGA Microcontroller ATmega168
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB (ATmega328) of which 2 KB used by bootloader
SRAM 1 KB (ATmega168) or 2 KB (ATmega328)
EEPROM 512 bytes (ATmega168) or 1 KB (ATmega328)
Clock Speed 16 MHz Servo Specifications
The torque rating specifies how much force the servo can exert. It is typically expressed in units of ounce-inches (oz-in) or kilogram-centimeters (kg-cm). The higher the number, the more force the servo can exert. If you know the length of the servo arm that will be used, you can use this measurement and the servo torque rating to calculate how much force end of the arm can exert. A long arm will reduce the maximum possible force, and a short arm will increase it.

The speed of a servo is measured in the number of seconds it takes to move a certain amount of rotation, usually 60 degrees. The smaller the number, the faster the servo is. A servo that is rated 0.15 seconds is able to rotate 60 degrees in 0.15 seconds.

Size and Weight
The size and weight of a servo are important considerations when used in a small airplanes or other RC devices where there is not much room, or weight is an issue. Typically, smaller servos will have lower torque ratings.

Bearing Type
Standard servos have bushings supporting the main shaft, heavy duty servos typically have one or two ball bearings supporting the main shaft.

Motor Type
The standard motor used in an RC servo is a three pole ferrite motor. Five pole coreless motors are used in some high speed servos, and heavy duty coreless motors are using in some high end heavy duty RC servos. Software Ardunio Sketch Processing VLC player Wiring, Arduino, and Fritzing
Processing has spawned another project, Wiring, which uses the Processing IDE together with a simplified version of the C++ programming language as a way to teach artists how to program microcontrollers. There are now two separate hardware projects, Wiring and Arduino, using the Wiring environment and language. Fritzing is another software environment of the same sort, which helps designers and artists to document their interactive prototypes and to take the step from physical prototyping to actual product.
•» Free to download and open source
•» Interactive programs using 2D, 3D or PDF output
•» OpenGL integration for accelerated 3D
•» For GNU/Linux, Mac OS X, and Windows
•» Projects run online or as double-clickable applications
•» Over 100 libraries extend the software into sound, video, computer vision, and The Arduino IDE comes with a C/C++ library called "Wiring" (from the project of the same name), which makes many common input/output operations much easier. Arduino programs are written in C/C++, although users only need define two functions to make a runnable program:

* setup() – a function run once at the start of a program that can initialize settings
* loop() – a function called repeatedly until the board powers off VLC media player is a free and open source media player and multimedia framework written by the VideoLAN project. Arm Camera GUI BASE SOFTWARE Arduino Robot Arm Parts
3 H-bridge chips – I heavily recommend using the sn754410 chip but you can probably get away with the L293 series. Each chip can control 2 motors – 5 motors = 3 chips.
Arduino Deumilanova w/ ATMEGA328
Breadboard/ Prototyping board
Jumper/ Connector wires
Wire cutters/ strippers PARTS Bread board with 3 L293d owi arm with ardunio board Servo Motor Interface
Hardware Required
Arduino Board
(2) Servo Motor
hook-up wire
camera Parts white - ground
red - 3.3+v
green - data
yellow - clock
Attach white to the Arduino's ground, red to 5 volt+, green to analog pin 4, yellow to analog pin 5. The nunchuck is only supposed to get 3.3+ volts. So far it has worked fine at 5 volts, but be warned. I am guessing that using the higher voltage will shorten the nunchucks lifespan. Wire confirigation GUI software with
video streaming Only 5 motor GUI Use of openGL.
Design buttons.for each control
Use keyboard input and also mouse intput for run Arm.
Image display for perticular arm movement Design inculeded Arm flow
daigram GUI software input command Processing will send serial signal it to ardunio Sketch Ardunio will send will recive that serial command
and than send it to ardunio board Ardunio board wil send it to the our h bridge circuit Owi arm will operate servo motor operate servo motor flow daigram Ardunio Sketch Ardunio Board nunchuck References Reference

[1] A Programming Handbook for Visual Designers and Artists by Casey Reas
[2] Getting Started with Arduino By Massimo Banzi
[3] Arduino Programming Notebook By Brian Evans
[4] ArduinoFun Project Book By Shawn Augustson

Web Reference
[2] http://processing.org/
[3] http://www.arduino.cc/
[4] http://webcamxtra.sourceforge.net/ Future Prospect These days following industries are using Robotic arm.So the future of the robotic Arm is Very Bright.
• Auto mobile :- car assembling
• Defence :- Bomb defuse
• Medical :- artificial hand for people who lost hand in war
• Game playing :- for playing chess , cards
• Construction :- break chimneys So the future of the robotic arm is very promising.and research in robotic arm will be leading these days . Conclusions In this project I have interfaced the robotic arm with different kinds of I/O devices and our method allows for storing more programs to enhance more functionality. From our work, we deduced that in comparison to humans.
we also use Nunchuck and also interface its accelometer with servo motor using Ardunio. We also use GUI for the robotic arm control. We can easily see that what robotic arm has to pick up or lose by giving it virtual camera vision.
So at the end I learn three major thinks like Ardunio controller board; Processing Software; interface camera, nunchuck , Robotic arm with computer. Conclusion
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