2 Axis Robotic Arm with Computer Vision
By
Python
Computer Vision
3D Printing
PCB
FPGA
Robotics
Hardware Verification
Hardware
A SCARA (Selective Compliance Articulated Robot Arm) which attempts to draw images using GCode generated from OpenCV contour generation. This arm was 3D-printed and uses a custom PCB for the motor drivers. Additionally, the inverse kinematics which instruct the arm to move to a specific point were calculated using an FPGA, written in SystemVerilog. The arm can be controlled using an easy to use GUI written in python.
0 Lifts
Artifacts
| Name | Description | |
|---|---|---|
| Github Repository | A repository containing all sourcecode for the robotic arm | Link |
| Slideshow | A Google Slides document that outlines how the system works essentially. | Download |
| PCB Layers | PCB layers for the stepper motor driver block | Download |
| PCB Schematic | Schematic for the stepper motor driver block. | Download |
| 10 Inch Straight Line Test | A system verification test that demonstrates our system drawing a 10 inch straight line within +/- 0.25 inches. | Link |
| Interface Definitions | A document that defines our blocks and how they are expected to interact with each other. | Download |