Automatic Pouring Robot

More documents

Recommendations

Info

Purpose Smoothly pour water from a bottle into a cup without spilling Consists of a bottle, a pan/tilt mechanism, a computer controller, a cup and a webcam The bottle will be mounted on the mechanism Computer controller will rotate the bottle towards the cup Webcam will view the height of water in the cup.
Mechanical System
Page 1 and 2: Automatic Pouring Robot Akilah Harr
Page 3: Objective and Motivation To develo
Page 7 and 8: Tilt Friction/Gravity Model Upper
Page 9 and 10: Tilt Friction/Gravity Cancellation
Page 11 and 12: Basic Trajectory
Page 13 and 14: Polynomial Trajectories
Page 15: Return Trajectories
Page 20 and 21: Tilt Controller - Simulated Simula
Page 22 and 23: Tilt Controller on Actual Trajector
Page 24 and 25: Pan Controller - Design
Page 26: Tweaked Pan Controller Actual: M o
Page 29 and 30: Image Processing Algorithm Want to
Page 31 and 32: Webcam Data of Sample Pour Stop Tri
Page 33 and 34: Modeling Error - Tilt Friction ID
Page 35 and 36: Assessment Mechanical System Stur

Automatic Pouring Robot

Create successful ePaper yourself

Delete template?

Save as template?