Components
Intel Realsense D435i camera
Intel Realsense D435i camera
*Active IR technology
*High resolution RGB camera
*Gyroscope include
*SDK for most programming language
*USB 3.1 which requires a high-level micro controller like Raspberry Pi
Nema 17 Step Motor
Nema 17 Step Motor
1.5A to 2A current per phase
1-4 volts
3 to 8 mH inductance per phase
44 N·cm (62oz·in, 4.5kg·cm) or more holding torque
1.8 or 0.9 degrees per step (200/400 steps/rev respectively)
There we can choose Jetson or Raspberry Pi in our system, in the introduction, green fonts represent strengths, red fonts represent weaknesses
Jetson
Jetson
•GPU computation
•Fast object detection
•Our own edge detection method can be implemented
•No need to skip any point. This makes our program more robust.
•Need tape covering the whole arm
Need two colors of tape
Raspberry Pi
Raspberry Pi
•Direct I/O
•Detect arm with small area of green tape
•CPU intensive
•Slow Performance
•Need to skip points for performance
STM 32, Driver, and Motor
STM 32, Driver, and Motor