The students need to develop a robotic system to solve a simple problem (e.g. solve a simple puzzle, stack some blocks…). The assignment will be done in groups of around 6 people. The groups will be chosen by the lecturer of the course. The groups are shown on the Noppa page of the course. If you are not a member in any group, but want to complete the assignment, please contact the lecturer (make sure you collect SOME points in the 2nd and 3rd exercise to show that you are participating in the course - inactive students will be left out from the groups).
To pass the practical assignment, each group has to:
Each group member must contribute to the effort. When delivering the final report, the contributing group members are asked to sign the final report. By signing the report, group members certify that each member named on the report has a sufficient personal contribution.
MELFA RV3-SB, a 6 DOF robot arm and the attached Robotiq gripper will be used. Low-level interfaces to the robot arm and gripper exist (see below for Available interfaces), but also a binary for controlling the robot will be provided. The inter-process communication with the binary is done by reading and writing normal files, so using it from for example Matlab is easy.
Vision needs to be used in order to locate the puzzle pieces. Kinect RGB-D camera will be used. It provides a normal RGB image as well as depth image. A binary for capturing images will be provided. The binary also generates a point cloud and the students can choose which information the project will use.
The software needs to operate on the robot control computer running Ubuntu 10.04. Additional software can be installed on the computer. Any programming language or a combination thereof available at the computer can be used, but using Matlab is encouraged.
Matlab toolboxes available at the university as well as any freely available software libraries can be used. All methods used (also those from the libraries) need to be documented, that is, the methods used by the external libraries need to be documented.
Interfaces to Kinect and robot/gripper will be provided as binaries. The documentation, some example Matlab scripts and example images are provided here.
Each student group gets a user account on the robot controller computer ct200033.pc.lut.fi. The computer is mainly used as research equipment and thus students need to be extra careful in the use of the equipment.
Rules and information for using ct200033.pc.lut.fi: