Robot End-Effector with Dual Degrees of Freedom for Carom
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current vision-guided robotic systems face challenges in playing carom due to limited degrees of freedom, obstructed camera views, and complex calibration processes, making them inefficient and costly for accurately playing the game.
Innovation Solution
A robot with an end-effector mounted on a gantry frame, equipped with multiple imaging sensors and a data processing system, providing two degrees of freedom for rotational and force transmission, along with specialized calibration and image mapping routines to enhance accuracy and visibility on the carom board.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a global camera is installed to look down on the table with image plane parallel to the playing surface, then the camera can capture the board, but the view is blocked by the gantry and end-effect requiring repositioning after each shot
Solution Approach 1:
The patent changes the camera mounting dimension by attaching the global camera to the end-effect rather than the gantry frame. This dimensional repositioning allows the camera to move with the end-effect while maintaining an unobstructed view of the board from above, eliminating the need for gantry repositioning after shots.
2Adaptability or versatility
If the end-effect is designed with limited degrees of freedom for striking, then the structure is simpler, but the robot cannot strike the striker from different angles required for carom
Solution Approach 1:
The patent makes the end-effect dynamic by incorporating two degrees of freedom: one for rotation about the cue axis and another for force transmission. This dynamic design allows the end-effect to adapt its orientation and striking angle based on the shot requirements while maintaining a relatively simple structural implementation.
3Manufacturing precision
If conventional robot systems are used for carom, then the system is easier to implement, but the accuracy and precision required for carom shots cannot be achieved
Solution Approach 1:
The patent replaces conventional mechanical positioning systems with a vision-guided system using global and local cameras. The image processing and coordinate mapping subsystems substitute for complex mechanical precision mechanisms, achieving high shot accuracy through software-based positioning and calibration rather than purely mechanical means.
4Measurement precision
If multiple imaging sensors are added to improve visibility and accuracy, then the measurement capability improves, but the system complexity and cost increase
Solution Approach 1:
The patent merges the functions of global positioning and local detail detection by coordinating two cameras (global and local) with a unified image processing system. The coordinate mapping subsystem integrates images from both cameras, allowing the system to achieve high measurement precision through functional merging rather than through completely separate subsystems.
Data Source
AI summary
An apparatus and a method to locate a three dimensional object and to execute a predetermined operation on said object, such as playing carom is disclosed. The apparatus includes a robot (200) having an end effect or (202) mounted on a gantry frame. The apparatus further includes a plurality of imaging sensors mounted at predetermined positions in said gantry frame. A data processing system (computer) (214) is provided in communication with said robot (200) and said imaging sensors. Further a controller 216 connected to said data processing system (214) to regulate the functions of said data processing system. The end-effect or (202) provided in the robot (200) consists of at least two degrees of freedom, one for rotational (302) and other for transmitting force (306a).