Overall Explanation

With our follow along examples, we were able to move our robot arm with precision as well as produce music with our integrated speaker within the zetabot. The instructional codes have been compile into a jupyter notebook for the ease of use. This section will explain the libraries used for the follow along section.

Robot Arm Movements

The instructions given to the robot arm are within Python 2 environment. We use Arm_Lib library which contains all the necessary modules that we use to operate our robot arm. Arm_Lib is a library provided by the Yahboom Robotics where our robot arm was made.

Tracking a Color or a Face

Within our follow along examples, we follow a tracking examples, where our robot arm would track either track a color or track our face. In order to achieve this we implore three important steps

  1. Input processing

  2. Processing and instructing the arm to move towards the detected a color or a face.

  3. Displaying the results.

The detection as well as imput/ output image processing was handled by cv2 library from OpenCV. The movement of the robot arm was handled by the custom made proportianal integral derivative controller as well as the Arm_Lib library.

Sound

For our dancing robot demonstration, we published an array of integer to ROS Topic called /robot_sound.

The robot_sound topic recieves integer array of size 3: [slot1, slot2, slot3].

  • slot1: Recieves binary integer (1, 0) dictating whether to play the sound (1) or stop the sound (0).

  • slot2: File ID (ranges from 0 ~ 9).

  • slot3: Directory ID. (set to 1)