Programming a robot arm for board games

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Dr. Kiss Bálint
Department of Control Engineering and Information Technology

My work points out, that an intelligent robot and a modern computer working together can be used in a variety of areas, including tasks outside the conventional use of robotic arms.

The thesis presents a robotic application that is able to load the chess pieces on a chess board so that image processing is used to differentiate them. A graphical user interface is also developed which allows users initiating the setup of the chess board and then playing against each other.

The graphic user interface is designed and implemented in the Qt development environment. The GUI receives instructions from the user, and based on these instructions it sends data to the robot CPU. The image processing algorithm uses the services of the Opencv environment, and can differentiate the chess pieces with a marking system defined. The algorithm sends the result of the image processing to the robot CPU.

There is a communication link established between the robot and the computer through ethernet cable, and the communication protocol is a TCP/IP based version of Modbus.

The robot CPU runs a program, which receives the data from the computer and it moves the robot arm according to the received data.

The programs can work together transparently, hiding the communication layer from the user who only sees the movement of the robot according to his or her actions of the GUI.


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