![]() Watch the embedded video above to see more image processing pics (they are in the second half of the video). Different colors mean the Raspberry Pi is aware that there are multiple objects on the table. In the end, all that’s left are 3 points which determine the 2 dimensional position of the objects when viewed from the camera. Starting with the gray scale image the data gets processed and passed to the next algorithm. But what do those names mean? What are the algorithms doing? The gif below shows how the image data gets altered by those algorithms in the same order. I called the algorithms Edge Detection, Binarization, Pixel Expansion, Labeling and Object Extraction. I wrote that I used several algorithms to determine the xy position of the screws. ![]() So let’s take a closer look at the image processing. No need to try to get some kind of current control going. For the case you are wondering how the heck the speed control was done more specifically: “speed” is one of the servos parameters which can be controlled over the serial bus. This was supposed to make it move more elegantly, more smoothly. Given a goal position, it makes sure that both the starts and stops are shaped in the form of a sine wave. I tried to fix this by implementing a software start-stop controller. The robot arm was shaking after reaching its goal position. The stopping and starting was too harsh, too sudden. I wasn’t satisfied with the servos moving around when given just the goal position. Getting it to pick up screws consistently.Things I tried to optimize while building the thing are as follows: This Raspberry Pi robot arm is able to search for screws (image processing with the Raspberry Pi camera module), pick them up and put them somewhere. A small circuit for communicating with the servos (see here for more info’s).The “smart” just meaning that you can control them via serial bus. But the rule “I payed more so it ought to be better” applies What you get are very easily configurable strong smart servos. This entry is about a small Raspberry Pi robot arm I made more then a year ago.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |