Description: Our project provides integrated AR tag detection, kinematics, and path planning with collision detection for a Dobot Arm V1.0. It supports a command-line interface for high-level behavior (stacking, searching, pick-and-place, etc.)
Interfaces
MainCode.py - starts the main user interface
Need to set constants such as CAMERA_ID, DUCKY (AR tag #), etc. based on your setup
Update line 415 to pass the serial port for the Dobot on your machine to the serial interface (e.g. /dev/ttyACM0 on Linux)
keyboard_control.py - control the Dobot manually using your keyboard
pass the serial port for the Dobot with the command-line flag "-p $PORT" (e.g. PORT=/dev/ttyACM0 on Linux)
Contents
MainCode.py - high-level behavioral code
keyboard_control.py - command-line interface to control the Dobot
Serial Interface
Controller.py - wrapper class for the serial interface used by keyboard_control.py
SerialInterface.py - class representing the Dobot serial interface (from pyDobot)
StatusMessage.py - message class used by SerialInterface.py (from pyDobot)
Camera
AR_Camera.py - wrapper class for the webcam and AR tag detection
campose.py - provodes a routine to estimate the camera-end effector offset
Path Planning
Roadmap.py - class implementing a probabilistic roadmap for path planning
Simulation.py - wrapper class to store obstacles and check for collisions
intersect.py - this module implements triangle-triangle intersection tests
DobotModel.py - this module handles the Dobot kinematics
math3D.py - this module calculates rotation matrices
Examples
roadmap_test.py - example code for using the probabilistic roadmap
calibration_test.py - example code for using campose.py
arm_cal_test.py - partial analysis of data from arm calibration
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent