알까기 로봇(R-bot)의 설계

Stone flicking is a game played on the baduk board. In this study, a stone flicking machine called R-robot is developed, which is an intelligent robotic system that can compete against a human player. The robot photographs the stadium and processes the images to find the best route for efficient competition. The targeting stone is identified using a camera and a path-searching algorithm selects the stone-flicking position. Based on inverse kinematics, the rotation angle of the motor is controlled to move the robot according to the given coordinates. A linear actuator adjusts the height of the flicking part, while a solenoid controls the power. ANSYS simulates the stress distribution of the robotic arm. The flicking direction is selected using C# and OPENCV. The Dynamixel RC servo motor controls the main joints of the robot. Arduino is applied for data processing and actuator control. Finally, the R-bot is manufactured.