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Vision based control of small educational double SCARA robot

Brief description

The repository contains some of the code used in the project aiming at develop an easy-to-build and deploy educational robot, which may be used during classes to study machine vision-based control and classification. More details can be found here.

List of files

  • parts_handling.m - function for controlling the robot to simple pick and place task
  • getOBJcoords.m - function for object detection based on image segmentation and blob analysis; returns number of objects and its coordinates
  • motorSync.m - function for synchronous stepper motors control in half-step operation
  • invKin.m - inverse kinematics of 2-DOF double SCARA manipulator
  • px2xy.m - function for obtaining coordinates from pixels based on calibration data
  • image_prep.py - image capturing and preparation for training the CNN
  • train_model.py - training the CNN
  • test_model.py - testing the CNN