sensors

this robot requires several sensors to operate. The sensors are used to determine the position of the robot, the position of the gripper, and the position of the objects in the storage area.

CV

since the servo motors this project used do not have encoders, the position of the robot is determined using computer vision. The robot also has a camera mounted on the end effector, which is used to determine the position of the robot. The cameras should be calibrated using a chessboard pattern, and the position of the robot is determined using the position of the end effector in the image.

for a more accurate position, the robot also uses AprilTags. AprilTags are a type of fiducial marker that can be detected by the camera. The position of the robot is determined using the position of the AprilTags in the image.

• the AprilTags project url: https://april.eecs.umich.edu/software/apriltag.html

• opencv camera calibration: https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html