ME 4451: Robotics Patrick Chang Ryan Stewart Julia Barry Alex Choi RoBOP-a-Mole ME 4451: Robotics Patrick Chang Ryan Stewart Julia Barry Alex Choi

Objectives/Goals Make a robot that could simulate the game, “Whack-a-Mole.” The robot must be autonomous. Must be able to hit more than one mole. Must not hit empty holes.

Equipment and Materials Used ROBIX, RRR serial robot arm DVT camera system Computer with MATLAB and DVT program Platform box Moles (UGA Bulldogs) Hammer Black gloves

Challenges We need constant visual communication. Avoid singular configurations. Arm cannot interfere with camera. No false positives. Relate reference frames of camera and robot Four, instead of three D.O.F.

Approach/Solution Arm begins in an initial position away from camera. Instead of locating centroid, used a binary system of checking moles. Predefined joint angles and orientations to avoid singular configurations and meticulous reverse kinematics equations. Decreased white detection threshold to avoid false positives.

Kinematics Forward Displacement Analysis for calibration. Reverse Displacement Analysis for joint angles. Precise Results required Trial and Error. Simpler or robust methods were preferred.

Results Achieved all initial goals. Robot can hit multiple moles. See for yourself!

DEMO TIME DEMO TIME

What We Learned Simple solutions are better. Image processing. Some of the equipment is…inconsistent.

Things We Did Right Meeting minutes Defined our goals clearly Met frequently

Things We Could’ve Done Timer Time and Distance Optimized whacking Score System

Conclusion It is possible to play “Whack-a-mole” with a robot arm.

Thank You for Listening! Any Questions?