Vision Based 6 Dof Ball Collecting Mobile Robotic Arm Design

In modern era of computer vision,robotics is used in several innovations as in various technologies such as industrial manufacturing process,mechanical,electrical and control processes.In this project,we design robotic arm which has movement of 6 DOF for multipurpose functions.The controller Arduino Mega 2560 is used as robotic arm manipulator.The robotic arm is based on the six servos such as control base,elbow,shoulder,wrist,and gripper.Image capturing system is embedded to extract the information from images and this system is based on the Raspberry Pi 3,which is easy to implement and use.Raspberry Pi 3 and its peripherals are required to capture the image and detect the object.The Raspberry Pi 3 is a very useful platform for real-time object detection.Experimental results show that the intended system is sufficient to perform image capturing,detection and data processing between Raspberry Pi 3 and camera.Numerous algorithms have been proposed in this work for automatic real-time tracking of a tennis ball.Initially,rapid background subtraction has been performed with respect to shape and color detection of a tennis ball.The aim of the project is to focus all axes of a manipulator with Arduino mega 2560 to lift and carry the tennis ball then unload it at the desired location.The vision system requires a separate computing hardware,which is capable of processing complex vision algorithms.We utilize Raspberry pi 3 microcomputer for processing the vision data and make the vision system capable of recognizing the specified object as per program commands to perform a specified task by using mobile robotic arm controller.The microcontroller is used to implement controlling the car through Bluetooth.The robotic car used,to sum up,information about manipulability to perform the embedded tasks.The performance of the robotic car is based on DC servo motors that used in the car for their speed.Through actual system tests,it is verified that the designed 6 DOF movement robotic car can realize the identification,tracking,grabbing and picking up of tennis balls.