This repository contains the implementation of the project assignment for the Robotics 34753 course at DTU. The project focuses on the theoretical and practical aspects of robotics, using a 4-joint robotic arm equipped with Dynamixel AX-12A servos and a camera for computer vision tasks.
- Kinematics: Forward and inverse kinematics computations.
- Trajectory Planning: Polynomial interpolation for precise motion control.
- Dynamics: Derivation of the dynamic system equations and torque computation.
- Computer Vision: Detection and interaction with objects using OpenCV.
- Problem 11b: Detection and probing of red "smarties" using the robotic arm. This involves:
- Camera calibration for accurate object detection.
- HSV-based color filtering and Hough Circle Transform for identifying "smarties."
- Motion planning to probe identified objects.
- Clone the repository.
- Install the necessary Python libraries listed in
requirements.txt. - Follow the setup guide to initialize the robotic arm and camera.
- Run the scripts to solve the problems or perform the computer vision task.
kinematics/: Solutions to Problems 1–5 (forward/inverse kinematics, Jacobian).trajectory/: Trajectory planning and interpolation (Problems 6–7).dynamics/: Dynamics derivation and torque analysis (Problem 10).vision/: Camera calibration and smarties detection (Problem 11b).
For detailed instructions, refer to the report or individual problem folders.