The goal of this project was to locate a purple pen in space using OpenCV and grab it with a robotic arm.

Software: OpenCV, Python

Hardware: PincherX 100, Intel Realsense D435i

Using a realsense camera, I implemented computer vision techniques to identify the centroid purple pen by aligning the RGB image with the depth map. I identified the purple color of the pen by specifying the RGB threshold pixels to detect, and then used edge detection to find the outline of the pen. From their, I could easily find the centroid. I then read in the data of the centroid and depth from the realsense and transformed the frame from the realsense camera to the end-effector of the robot to determine how to move the robot. Based on these calculations, I incremented the joint angles of the robot to move the end-effector of the arm to the centroid of the purple pen and then grasp the pen.

Megan Sindelar