Screw this. I’m installing python and opencv by hand. Is not that the virtual environment want working. It’s that it was working to make me angry. This is a symptom of my being irrational I know.
Well now that’s off my chest, let’s get down to brass kinematics. What’s my goal? A general people arm that can reliably (within reason) move items around the Den. I should rename the Den of Inequity. Den of… I don’t know. I’ll find something. Back to the arm. The base software will be running on a Raspberry Pi 3, because I have a couple that should do the things. The rain why I’ll initially go with that versus the BeagleBone is the built in WiFi will help with install development repositioning (fewer cables), though at a later point I might consider switching because the PRUs of the BeagleBone would probably make for some sweet smooth movement. I’ll be starting with servos to avoid having to deal with stepper motor drivers right out of the gate, though again this will probably change as the arm expand on scope and size. I’m still debating on the initial arm type. I’m almost thinking a SCARA arm for the reduced force needed as the fight against gravity isn’t forced, pardon the out, on every single motor. Obviously whenever people think arm though they’re thinking of something like the arms they always show in movies, it’s just they’re not that efficient. Decisions suck. Right. SCARA will be first, and I’ll go from there.
Monday or so, because of irrational reasons, I have a parts showing up. That would be a gripper assembly, wire assortment, as I do need to be better about colour coding my wires, and a stack of motors of various types. The goal is that I should be able to recognize a beer bottle cap, its average colour as well as it’s two most prevalent colours and the penance there of. Add on top of that it’s orientation to the viewer.
This will be in the service of creating a mosaic of beer bottle caps. I’ll probably need to think about a jig, for the first iteration, but soon enough a good state would be the arm picking up a cap from a bucket, while in any position, assisting it to see the colors, am and then planning the cap appropriately.