Arduino Computer Vision Robot Arm

10,620

66

10

Introduction: Arduino Computer Vision Robot Arm

The main idea with this instructable was just make a simple 3DOF robot arm that collect objects and place them in the right place.

Materials:

4 servo SG90

MDF 4mm

Arduino Nano

Jumpers

Laptop

Glue

Nylon

Step 1: Sketch

First of all I just made a few drawings looking for the size of the links and the effector.

a1 = 10cm

a2 = 8.5cm

a3 = 10cm

But it's easy for you because I used Rhino to model the final structure, and then I did a laser cut.

****Attached vector files if you want to use them***

Step 2: Solve the Puzzle

It is completely easy to assemble the cutted parts, just follow the pictures, they show where to place the servos.

Step 3: Finishing the Robot

I just used a little bit of nylon for the effector, as you can see in the pictures.

Step 4: Computer Vision

In the cad files I attached early, you can see the structure for the webcam. The cam is connected to matlab and this is the process:

1. You've got to install the driver in matlab

2. Then install the arduino package for matlab that let you program the arduino.

3. Once you have installed the webcam driver and the arduino the code works capturing a snapshot and then analyze it.

4. The software divide the image in 3 layers R, G and B.

5. Using inverse cinematic the webcam gives to arduino the coordinates

where the color is and then the robot goes to that place and take the object.

6. Finally i decided where the robot leaves the object.

I attached the code explained. Sorry, only spanish.

that's all. sorry for my english.

Make It Move Contest 2017

Participated in the
Make It Move Contest 2017

Be the First to Share

    Recommendations

    • Clocks Speed Challenge

      Clocks Speed Challenge
    • Toys & Games Contest

      Toys & Games Contest
    • Big vs Small Challenge

      Big vs Small Challenge

    10 Comments

    0
    vanngoca1.yl
    vanngoca1.yl

    Question 5 months ago

    ¿Cuál es el tamaño de esto?
    What is the size of this?

    0
    Dikshant Bhavsar
    Dikshant Bhavsar

    1 year ago

    Hello Pachytrance sir,
    can you please tell me which webcam do you have used in this project?
    can you send me it's link?

    0
    sunnyboy568
    sunnyboy568

    Reply 1 year ago

    Hello Pachytrance sir:
    would youb please send me the diagram of how the wires connected to the Arduino Nano controller board ?

    0
    KalpitR1
    KalpitR1

    Question 2 years ago on Step 4

    Great job sir.
    Sir can you please help me to understand the parameters of inverse kinematics part like Dr,Br,Cr,alphar with free body diagram of robot...
    Thank you.

    0
    dadoudorra
    dadoudorra

    2 years ago

    i want to know more about the size can u help me

    0
    dadoudorra
    dadoudorra

    2 years ago

    good job i will made it

    0
    DevayaniA
    DevayaniA

    Question 2 years ago on Step 4

    can i get the program of this system

    0
    IgorF2
    IgorF2

    3 years ago

    Well done! :D

    0
    deanhemm
    deanhemm

    3 years ago

    no apologies necessary. Well done! Very clever gripper you have devised as well.