AR4 Robot Vision 

Yea really, this is so helpful

Thank you so much. I really appreciate it.

Thank you very much! I'm glad you found the project.

Thank you.

thank you

Thank you! Happy to share the project and keep me posted if any questions.

thank you.

There is a link on the websites third party software page for a ROS repo for the AR3 put together by Dexter Ong. I started on a repo for the AR4 using ROS2 humble but Moveit2 doesn't work, has all kinds of issues bringing in the URDF. I put ROS on the back burner until they get the bugs worked out with ROS2 and have some better documentation.

@@anninrobotics Thank you Chris for the answer and for the amazing work you are doing. Several months ago I purchased your robot, and I plan to assemble it and integrate it with reinforcement learning and computer vision (and some other equipment). I was a Professor at RIT, and there I had a lab with FANUC and ABB robots. A small upgrade of a FANUC robot (just enabling an ethernet connection) used to cost us 10k. Industrial computer vision systems are also very expensive. Probably only medium and large-size industry players can afford them. The idea of developing low-cost industrial robots with open-source computer vision, programming, and machine learning is truly an amazing idea that can revolutionize manufacturing and automation. Many startups would be interested in such a technology.

Thank you, it's just using open CV pattern matching.

It should be in the folder you download for the GUI software. Email me at info@anninrobotics.com if you have trouble

Hello, I have combo kits back in stock and I should have aluminum kits back in stock tonight. The 3d printed robot should be fine it's payload just won't be as high and the rigidity is not as good.

You can set up for any camera brand, it's setup to look for pattern matching I don't have it set up to look for reading numbers yet

I have more parts being shipped and I hope to have them back in stock next week. Thank you

Its just a low cost conveyor I got from Amazon a while back. I had it setup with a through beam sensor to stop when a part is present and then the robot is just in a loop scanning for parts. You could certainly tie the conveyor into an arduino output relay from the robot too.

​@@anninrobotics thanks for the info. Did you run into any timing problems where the conveyor is on moving a part forward, robot vision sees and gets location of part and starts moving to grab it, meanwhile the conveyor keeps moving until the stop sensor triggers, making the robot miss the pick? Or did you calibrate it on that conveyor trigger point? Cheers

Also, thank you so much for what you have created! You are very much an inspiration to us all!

currently the programs are loaded and started through the PC interface. I do plan on adding remote functionality for starting, stopping and loading programs. I'm not sure how soon but its on my list and I'm always working on the next thing.

@@anninrobotics Seriously, I can’t thank you enough for all that you are doing to make this technology accessible. As a young inventor entrepreneur who’s trying to boot strap factory automation, I’m tremendously grateful for you and your amazing project. I would like to use the AR control software with the vision function to drive a 3 axis H-bridge style machine that would pick up a dog-tag from a pile in a bin and load it into another machine so that the operator can focus on product assembly. Is this possible to do if I use the same electronics and motors spec’d for the AR4? I think by going with a lightweight but rigid H-bridge frame I’ll be able to achieve faster movement from the pick up position to the final position, am I correct in thinking this? Also, is there a way, to use the rotational axes that are normally allocated for the AR4 robot arm to drive a conveyor belt? I ask because I would be using the three linear axes in the interface for the XYZ of the H-bridge. Is there a way to change a rotational axis to a linear one in the interface?

@@JoeFugallo im not sure how well it might work for picking out of a pile of parts as its geared toward template matching on a single background but it might work. The robot software is setup for 6 axis robot kinematics but the software does have a 7th, 8th and 9th axis control which might work for you. Please email me at info@anninrobotics.com with any other questions you have. Thank you very much.

I'm not sure what brand it is, It was just a low cost conveyor I got from Amazon a while back. I added a reflective through beam sensor at the end to stop the motor. I think this was the conveyor www.amazon.com/gp/product/B01MT1C80C