Gantt Chart
Note: Gantt Chart is subject to change weekly. Click on the image to zoom.
Final System
THIS IS A VIDEO OF THE FINAL SYSTEM SHOWCASING THE PROCESS DEVELOPMENT OF IMAGE PROCESSING, TRAJECTORY PREDICTION AND ROBOT MOTION CONTROL.
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Introduction
Hi! In this blog, I will be demonstrating my progress for the last semester of my final year as a Robotics student at Middlesex University. This blog will solely focus on the project development of creating a robotic system that will allow a serial manipulator play air hockey against a human opponent. Currently, this project can be divided into 3 main tasks: Track the location of the puck within the working space during live demo Implement a trajectory prediction in 2-D Cartesian space to identify where the robot should position itself in relation to the position of the puck Create a graphical user interface (GUI) to allow human opponent to easily set up and play a game of air hockey against the robot. By next week, I will research exiting robotic systems to understand what the creator(s) of the system have done to solve such tasks and their reasoning for it. Note: This blog will not start at Week 1 but at Week 14 to coincide with the university calendar. Immanu
Test - Relationship between Accuracy and Angle
Hi, This blog will cover the results gained from testing the accuracy of the robot successfully hitting the puck at varying angles for both sides. Below is a graph of the results. Relationship between successfully hitting the puck at varying angles for both table sides. The robot had the most success hitting the puck when it bounced off the right side of the table greater than the left side for all three categories. Each category had a sample size of 10. The performance of the robot decreases with increasing angle. However, as the speed was not taken into consideration when conducting this test, some of the results may be a result of the robot not having enough time to react. For both sides, the robot had the most success of hitting the puck at an angle less than 50 ° a s the puck bounced multiple times, reducing its velocity and allowing the robot enough time to react with 83% success rate at right side and 50% on the left side. A possible reason for the difference betwee