To get a good idea of the project, please watch this video. A video is worth a thousand pictures.
So, essentially, it's a set of autonomous robot arms that can manipulate DJ knobs/sliders, and have cameras attached so that they can see and respond to dancefloor activity.
It uses brackets from crustcrawler, however this project could have also been implemented using the PhantomX arm.
The robot workspace and inverse kinematics was initially modeled in MATLAB using the Peter Corke robot toolbox
The arms were also modeled in Solidworks 2010 (which was actually used to generate the glyphs in the matlab model above).
The cameras are stripped-down Logitech C910 webcams. The infra-red filter was removed so that infrared light can be used for controlled lighting conditions. Someone did something similar here
Note that you can
still get the auto-focus to work after removing the filter, let me know if u want more details.
After modelling in MATLAB, the robot control & vision code was implemented in C++. The software design is described in the following image (note: it is slightly more complex than this in reality and includes audio inputs, but this gives a general overview). The purple boxes are executable processes, while the green boxes are libraries used by each process. The two processes are ArmControl, and VisionProcesssing, which communicate via ZeroC Ice.
- is a C++ robot kinematics & dynamics library
- is an image processing library
- does heaps of stuff, I used it for its GUI library and also QStateMachine
- is used for inter-process communication
Note that future versions will run using ROS
OpenCV is used for image processing
The eye piece was designed in Solidworks, and cut out of 1mm aluminium.
Eye Piece Design
Other custom-made pieces include the "spikes" coming from axis 3, and the support brackets for axis 1. All custom-made parts were all cut from Aluminium, using the commercial laser cutter at Laser Wizard
Note: you can probably find a similar company in your area.