Literature Review

This is a directory of all Literature Reviews for my final year project. Click on the link to view PDF.

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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. ...
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Final System

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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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Linear Regression - Bounce Trajectory 2

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Hi, In the previous method, I described a method for handling bounce trajectories using Linear Regression. Below is an image showcasing another way to predict a bounce without swapping the axis and the need of creating new coordinates from the point that the slope intercepts the Y-axis. Code explained: 1. Calculate slope between atleast two points, as soon as the puck changes direction and is moving towards the ABB. 2. Using the slope, I predict the y position of the puck at the centre of the table. 3. If the prediction is greater than the table height,the error is calculated. 4. A new trajectory called Yc is created by reflecting the error from the end of the table. Video of two softbots playing with each other using two different methods Immanuel
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