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Dynamics of
a robotic arm

Satellite, CraneJ Ginger


Model of a
human standing

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Sirnulink & Dspace DS 1103

Input+ ,;;.,
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Measurement &
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from ca.meta DS1103ENC_ SETUP notch filter 0 S1103DAC_C1
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I Image Acquisition I

Select the search-spaces
with a mouse


l Select the cart
wit h a mouse


J

Detect the cart edges


(Sobel) and create
a cart model


Extract the two search space
sub-images from ~

the original image Pendulum search-space


Cart search-space
sub-image s ub-image


Convert the image to
black and wh ite using a
[ Compute the Sobel filtered J threshold
edge image

l i
Apply connected-components )
labeling to the image


Compute the corre lation between the
edge image and the cart model (wit h

various scales between 0 .8 and 1.2) Compute the center of gravity,
width, height and the orientation of
each compone nt


Detect the cart position based on
the maximum value of the
l Filter the components based o n
their w idth and height
correlation matrices

Predict the cart position fo r
each component based on
' the cog and the orientation
Select the component as the
pendulum if the predicted
cart position matches the -
~
I
detected cart position


Compute the velocity of the cart and
the angula r velocity of th e pendulu m
l

Compensate time delay by predicting the
cart position and the pendulum angle and
send the results to 0-space via serial port
f-----+I Image Acquisiton I
I


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