Implementación de un robot humanoide con reconocimiento de objetos por color y forma

Abstract

Robotis is the branch of mechanical engineering, electronic and computer sciences, that is in charge of the design, structure and application of robots. Word robot is traslate as forced work, and it is born from the czech word "robota". In the following titling project, a recognition of objects by thin color and shape with wi-fi network coverage was designed, in this way we would have a fixed IP address for the VNC view software, with wich, it help us to visualize our device. Through this bluetooth module we could communicate with the raspberry to wiredenly central the movements of bioloid GP robot, because by means of a type B wire, it would prevent us from perfoming the routines freely. In this work, the robot motion and robot tools were used, Robot Motion tool help us to save the parameters of speed, torque and force control and the execution time, that we are going to use in the robot Bioloid programming. About the Robot task is where we are going to carry out the general operational programming of the Bioloid Robots. We use an RSC-10 color sensor, this makes it possible to recognize colors with a range between 6 to 18 mm, at time to detecting the colors, we made the robot do a chaps routine, for each different color use by the tool, the robot with give certain amount of chapes. For the recognition of objects it was used an ESP32-CAM camera, through a programming in the software Arduino, help us to connect wiresly with the fix Raspberry PL4 address, that allow us to transmit images with higher resolution of 1600 x 1200 pixeles and a video resolution of 1080 p 30, 720 p 60 and 6040 x 480 p 90.