Design And Implementation Of Portable Chess Robot System

Robot technology is a hotspot in the world. The research on Robot includes mechanics, electronics, computer science, control engineering, biology, anthrop, artificial intelligence, sociology and so on. It has obtained large development in recent years, and already brought great influence to both economy and people's lifestyles. The portable chess robot has been studied and developed with human-computer interaction function. This portable game robot is specially to meet the increasing demand of the development of the 'science and technology caravan' in popular science recently.Portable chess robot is a human-computer interaction system which is based on robotics and computer visual perception technology and open to extensive mobile staff. This system is able to identify the chess automatically based on computer visual perception, and it finishes the chessmen movement by the robot itself in order to access the function of hum-computer interaction.This thesis is based on former researchers'work, and aims at the project request. The thesis basically talks about the following items:designed the whole system and analyzed the principles and key technologies of the portable chess robot; discussed the principles, functions of visual recognition and the application in this system; designed and realized the robot essence, and determined the structure of the manipulator; analyzed the function requests and difficulties of this item, and brought forward the solutions; studied the product-of-exponential, and improved the traditional arithmetic of forward and inverse kinematics using D-H parameter theory; achieved the recognition and accurate orientation of color mark on the end-effecor by the method of turning the sample of color mark into HSV color space and made it grown and then conversed back to RGB color space so as to constructed the color feature database and the method of center of gravity; simulated the 3-D robot manipulator in Matlab; completed the accurate timing and the control of velocity and acceleration of stepping motor by parallel port and the software written by VC++ under Windows.