1. 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

2. 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.

3. 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

4. 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.

5. 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.

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

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

8. DEMO TIME
DEMO TIME

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

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

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

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

13. Thank You for Listening!
Any Questions?