Videos
MATLAB Simulation Video
(Credits: Wilson Tang)
This simulation shows how ROCA ideally tracks and catches a projectile.
Webcam Prediction Testing
(Credits: Jeremy He)
Tracking a projectile with a laptop web camera.
Color Detection and Prediction
(Credits: Jeremy He)
Tracking a projectile with a laptop web camera based on the color of an object.
11/4/14
Bevel Gear Assembly Close-up, Forearm Motor Flex
Flexing presents potential issues with bevel gear meshing. It needs to be addressed to maximize functionality of the robotic arm.
11/4/14
Forearm Motor Motion
Mounted onto the shoulder, the shoulder motor engages the bevel gears and hinges the forearm assembly.
11/5/14
Shoulder Motor Motion
The shoulder motor is seen hinging the arm at the shoulder.
11/9/14
Servo/Forearm Motor/End Effector Motion
11/12/14
Shoulder Motor Moves at High Speeds
11/15/14
Stepper Motor
The stepper motor handles maximum torque well while rotating the entire arm assembly.
11/16/14
Object Tracking
Jeremy tests out object tracking using the Genius web camera and Visual Studio. The green values represent coordinates of the object.
11/21/14
Quick Arm Motion
11/21/14
Milestone 1 Complete!
ROCA making successive angle changes to reach a coordinate in space:
1 - Base Motor 45deg
2 - Shoulder Motor 45deg
3 - Forearm Motor 135deg
4 - Wrist-rotating Servo 135deg
5 - Wrist-hinging Servo 90deg
11/23/14
Hi-Five!
ROCA "hi-fives" Payton by rotating its links to predetermined angles by Wilson's input command.
11/29/14
Testing Shenanigans at Hesse Hall
Wilson "teaches" ROCA how to catch.
11/29/14
Testing Shenanigans at Hesse Hall II
Payton tosses Angry Bird at ROCA for image processing testing.
12/5/14
Pre-expo Testing
Having implemented tracking with the two webcams, ROCA still has difficulty responding to throws...
12/5/14
Pre-expo Testing II
ROCA responds to this catch but lags...
12/5/14
Real-time Path Prediction Adjustment
As the ball travels through the air, a computer program calculates the predicted path and adjusts it in real-time until the path yields a valid solution for ROCA to move to.