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
Posts Tagged ‘robot arm’
Inverse Kinematics Derivation
Posted: February 15, 2013 by evan007d in PhotoTags: inverse kinematics, robot arm
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Looks pretty good so far!
Posted: January 29, 2013 by MG in PhotoTags: 3d printing, arm, motors, robot, robot arm
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
Building a Chess Playing Robot Arm
Posted: October 5, 2012 by MG in GeneralTags: autonomous, chess, image processing, kinect, robot, robot arm
This is a blog created to chronicle the development of the “Human-Robot Chess” project. This is a Senior Design research project being worked on by 4 engineers at Drexel University and their adviser:
- Daksh Kapoor (Computer Engineer)
- Mayank Gureja (Computer Engineer)
- Evan Dissanayake (Electrical/Computer Engineer)
- Anson Jacob (Electrical/Computer Engineer)
- Pramod Abichandani (Adviser)
The purpose of this project is to build a robot arm that can autonomously play chess against a human opponent. This requires the construction of a mechanical arm, an image processing software and a chess algorithm. The project will use a Microsoft Kinect Sensor as the visual input. The sensor will be used to identify the current state of a chess board, pass this information to an AI chess program, and command a robotic-arm to move the chess pieces.
Our final objectives are:
- Create completely autonomous chess playing robot arm
- Use Microsoft Kinect sensor to map the chess board
- Create a robotic arm
- Integrate chess algorithm, Kinect sensor and the robot arm to play a complete game of chess with a human opponent
In the following months, we will regularly update this blog with our progress.
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MG, DK, AJ & ED
Human-Robot Chess 