Week 25/08/2024 - 31/08/2024

26/08/2024

Took more pictures of object tools.

27/08/2024

Took more pictures of hands

Start annotating 1008 images for training and 207 images for validation.

28/08/2024

Wrote program to obtain coordinate and depth values of detected object.

The z value was measured with a measuring tape. The distance is the same distance as the camera (0.31m). 

Next, edit the program so that it identifies object mentioned by the user via text input.

Searched object: Extractor

Searched object: Scalpel

The next step is to coordinate the transformation from the camera's coordinate to the UR10's coordinate. Before that, the camera needs to be mounted onto the UR10. In order to do so, a mounting plate needs to be made. Measurements were obtained from the mechanical drawings of the Intel RealSense camera and the UR10 mounting bracket.

A mounting board was then designed using Inkscape for laser cutting. 

The two tutorials watched to create the svg, dfx and pdf file for the mounting board.

Design is done and ready to be sent to the laser cutter:

30/08/2024

Sent laser cut design to the workshop.

Finished product:

Finish setting up hardware: 

Attempt to perform camera - robot calibration using the checkerboard method, which didn't work by the end of the day. 

A checkerboard sheet was printed for calibration purpose. the idea was to sync the points of the checkerboard using the camera and the robot.

Checkerboard template was printed from here:

https://markhedleyjones.com/projects/calibration-checkerboard-collection

31/08/2024
Watched videos to gain more knowledge on robot-camera calibration:

Encountered issues with calibration. Robot arm moved way beyond the target...

Or bent at a very awkward angle: