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RoBOP-a-Mole

RoBOP-a-Mole. ME 4451: Robotics Patrick Chang Ryan Stewart Julia Barry Alex Choi. Objectives/Goals. Make a robot that could simulate the game, “Whack-a-Mole.” The robot must be autonomous. Must be able to hit more than one mole. Must not hit empty holes. Equipment and Materials Used.

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RoBOP-a-Mole

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  1. RoBOP-a-Mole ME 4451: Robotics Patrick Chang Ryan Stewart Julia Barry Alex Choi

  2. Objectives/Goals • Make a robot that could simulate the game, “Whack-a-Mole.” • The robot must be autonomous. • Must be able to hit more than one mole. • Must not hit empty holes.

  3. Equipment and Materials Used • ROBIX, RRR serial robot arm • DVT camera system • Computer with MATLAB and DVT program • Platform box • Moles (UGA Bulldogs) • Hammer • Black gloves

  4. Challenges • We need constant visual communication. • Avoid singular configurations. • Arm cannot interfere with camera. • No false positives. • Relate reference frames of camera and robot. • Four, instead of three D.O.F.

  5. Approach/Solution • Arm begins in an initial position away from camera. • Instead of locating centroid, used a binary system of checking moles. • Predefined joint angles and orientations to avoid singular configurations and meticulous reverse kinematics equations. • Decreased white detection threshold to avoid false positives.

  6. Kinematics • Forward Displacement Analysis for calibration. • Reverse Displacement Analysis for joint angles. • Precise Results required Trial and Error. • Simpler or robust methods were preferred.

  7. Results • Achieved all initial goals. • Robot can hit multiple moles. • See for yourself!

  8. DEMO TIME DEMO TIME

  9. What We Learned • Simple solutions are better. • Image processing. • Some of the equipment is…inconsistent.

  10. Things We Did Right • Meeting minutes • Defined our goals clearly • Met frequently

  11. Things We Could’ve Done • Timer • Time and Distance Optimized whacking • Score System

  12. Conclusion • It is possible to play “Whack-a-mole” with a robot arm. • UGA sucks.

  13. Thank You for Listening! Any Questions?

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