Inverse Kinematics Derivation

The Inverse Kinematics Derivation was performed by using basic Geometry and Trigonometry In particular the Cosine Rule and Pythagorean theorem was used in determining the different motor angles

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ED & AJ

Lighting and Webcam Rig

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DK

Looks pretty good so far!

Gripper and forearm are almost complete. The 3D-printed pieces have been put together and the motors are in place.

Only wiring left to go to finish the upper arm…

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MG & DK

Tracking Multiple (Three) Pieces

Finally got the image processing algorithm up-to-snuff so it can detect the chess pieces accurately!

In this demo we’re placing 3 pawns from each side and seeing the software react to moves made.

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MG

Robot Chess Competition

Chiara robot

Robot Chess Competition

The Chiara robot has the same gripper design as ours.

I guess great minds think alike… 😛

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MG

Fall Term Presentation

This is the PowerPoint presentation we gave at the end of the first 3 months of research and development:

The demo video on Slide 14 is:

The demo video on Slide 21 is:

Enjoy!

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MG & DK

Scribbles for Robot Arm Implementation in Winter

Scribbles for Robot Arm implementation in Winter

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DK

Fall Term Demo

Integration of Chess AI and chess single piece tracker. The graphical representation of the board shows the current state of the chess board after each move. Also, displays the move made by the human and the AI in the cell name format.

Peaceeeee outttt! 🙂

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DK

Quad Chart

Quad Chart (Click to embiggen)

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AJ & MG

Robot Arm CAD Design Top View