2 Axis Robotic Arm with Computer Vision

By

Thomas Snyder and Kyle Noble

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.

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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
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