This project implements a color detection and robot control system that uses a camera to detect colored cubes and a robotic arm to pick and place them. The system is designed to work with a webcam, a robotic arm, and a gripper, and it uses OpenCV for image processing.
- Color Detection: Detects red, yellow, green, blue, and orange cubes using HSV color ranges.
- Coordinate Transformation: Converts camera coordinates to robot base coordinates using a homogeneous transformation matrix.
- Robot Control: Sends commands to the robotic arm to pick and place cubes at specified locations.
- Gripper Control: Opens and closes the gripper to handle cubes.
- A 6-DOF robotic arm with a gripper.
- A webcam for capturing video frames.
- A computer with a serial port for communication.
- Python 3.8 or higher.
- Libraries:
- OpenCV
- NumPy
- PySerial
- Socket