https://github.com/skdonthi/kuka-robot-as-artificial-camera-guy

https://github.com/skdonthi/kuka-robot-as-artificial-camera-guy

Last synced: 2 days ago
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• Host: GitHub
• URL: https://github.com/skdonthi/kuka-robot-as-artificial-camera-guy
• Owner: skdonthi
• Created: 2022-05-02T10:20:30.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-07-12T16:46:26.000Z (over 2 years ago)
• Last Synced: 2024-11-15T12:11:59.842Z (2 months ago)
• Language: Python
• Size: 1.94 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# kuka-robot-as-camera-guy

## Artificial Camera Guy

---

### Base Goals:

- Camera must detect face within a reasonable range (left/right, down/up, far/near).

Movement must be smoothed using any (one) method.

- Prepare two setups, run experiments and compare them in a scientific manner. 

- **Pick one of these:**

    1. **Network**: Communication via OpenShowVar (KUKA VAR PROXY) vs. XML via TCP/IP (KRLethernet)

    2. **Camera**: Mounted on the robot wrist vs. located in a fixed location.

### Extended Goals:

- Try various methods for smoothing movement (e.g. n frames fixed average, n frames moving average, n frames moving median,...), compare them in a scientific manner.

- Use a depth-sensor (lidar or structured light, available in the Lab) or infer from the detected face size. Move the robot accordingly.

- Compare both setups mentioned in the base goals.

### Document for safety workspace:

	- in PDF, KUKA System Software

	- KUKA System Software 8.3 (KSS_83_SI_en.pdf)

	- Operating and Programming Instructions for System Integrators

	- ### 6.11 Configuring workspaces

	- In KRC - controller:

	-- Step 1 - Determine Limits:

		Menu button(on top, a button with robot symbol) -> Display -> Actual position  -> axis- specific

		Rotate/move all axis and determined project specific limits and note down values

		

	-- Step 2: Configuring the workspace:

		Menu -> Configuration -> Miscellenious -> Workspace monitoring -> configuration -> axis-specific -> 

			Enter name: "cameraguy"

			put all the axis values (noted from step 1)

			Mode: "OUTSIDE_STOP"

		Save

### KRC usage:

	- Navigator -> R1 -> Program -> select robodkSync -> click on select below

	- Now, press and hold on forward play button (green color) on KRC display on top -> until program path is reached (in case of notification messages, select "confirm all" or "ok")

	- Press and hold again and is running