MSc Robotics - Object Handling: Week 22/09/2024

22/09/2024
Discovered why the end effector moves erratically sometimes during hand detection. This happens when the system somehow captures the hand coordinate as x: 0.00, y: 0.00 and z: 0.00.

After placing a condition where the x, y, z values cannot be all 0, the issue was resolved.

I started testing the performance of the system by checking if the system is able to complete the entire process of picking and placing. Different types of comparisons could be done with the test data collected. For example, percentage of successful completion of process, successful rotation of end effector, etc.

Below is a video of a successful completion of the pick and place process:

Below is a video of the end effector delivering the object to the palm, but as it was at the tip of the finger, the object fell off:

Another test was done to check the accuracy of the end effector moving to the object during the pick process.

A pointed apparatus was placed at the end effector. The system is then tested to check if the end effector is able to move to the centre of the object.

The camera position, obtained position, adjusted position of the end effector and the actual position of the object is then recorded to compare the distance between the adjusted position and the actual position. As the z value is fixed, only the x and y values were compared.