Articulated Robot Arm

Control the Dobot arm to pickup objects, avoid obstacles, and cleanup the workspace. See the uploaded paper for more information.

Contributors

Video Demonstration

See here: https://www.youtube.com/watch?v=BnHcuDm3IqU

Interfaces

• MainCode.py - starts the main user interface
  • Need to set constants such as CAMERA_ID, DUCKY (AR tag #), etc. based on your setup
  • Update line 415 to pass the serial port for the Dobot on your machine to the serial interface (e.g. /dev/ttyACM0 on Linux)
• keyboard_control.py - control the Dobot manually using your keyboard
  • pass the serial port for the Dobot with the command-line flag "-p $PORT" (e.g. PORT=/dev/ttyACM0 on Linux)

Contents

• MainCode.py - high-level behavioral code
• keyboard_control.py - command-line interface to control the Dobot
• Serial Interface
  • Controller.py - wrapper class for the serial interface used by keyboard_control.py
  • SerialInterface.py - class representing the Dobot serial interface (from pyDobot)
  • StatusMessage.py - message class used by SerialInterface.py (from pyDobot)
• Camera
  • AR_Camera.py - wrapper class for the webcam and AR tag detection
  • campose.py - provodes a routine to estimate the camera-end effector offset
• Path Planning
  • Roadmap.py - class implementing a probabilistic roadmap for path planning
  • Simulation.py - wrapper class to store obstacles and check for collisions
  • intersect.py - this module implements triangle-triangle intersection tests
  • DobotMode.py - this module handles the Dobot kinematics
  • math3D.py - this module calculates rotation matrices
• Examples
  • roadmap_test.py - example code for using the probabilistic roadmap
  • calibration_test.py - example code for using campose.py
  • arm_cal_test.py - partial analysis of data from arm calibration

Dependencies

• cv2, hampy
• numpy (1.11.2 or higher)
• scipy (spicy.spatial.kdtree, scipy.linalg)
• networkx
• matplotlib (pyplot)
• mpl_toolkits (mplot3d)
• curses
• warnings, collections, binascii, argparse, struct, itertools
• datetime, serial, time, sys, os.path, thread, threading

Tested Environments

• Windows 10, Python 2.7.12, OpenCV 3.1.0
• Ubuntu 14.04, Python 2.7.12, OpenCV 3.1.0
• Lubuntu 14.04, Python 2.7.6, OpenCV 2.4.13
• OS X 10.11.6, IPython 2.7.10, w/o camera

Unit Tests

• DobotModel.test()
• intersect.test()
• campose.test()