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Robot
Robot
For this project, we used a Baxter robot. We needed the robot to have two arms: one to hold the gun, and one to use as the camera. The head camera was unsuitable, since the image would have to be undistorted before use and the higher angle will make the target always appear skewed. Specifically, we used Archytas because it was the only one that a functional wrist camera on the non-gripper arm.
Gun setup
Gun setup
This gripper setup took a lot of experimentation to get right. The gun required a lot of pressure on the trigger to fire and would often not fire if the gun wasn't aligned well on the gripper. In order to find the right balance between keeping the gun in place when the arm was moving and giving it enough flexibility to move when it had to, rubber bands were used. A piece of foam (Nerf bullet) was placed in front of the trigger in order to apply the correct amount of pressure when holding the gun as well as when firing. The number of rubber bands used was reflective of the small adjustments that had to be made to align the gun properly. The two fingered medium sized grippers were chosen since they were the right size to hold the gun.
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