Computerized Alcoholism

📄 Academic Project Report

The complete methodology, mathematical modeling, and engineering design for this project are detailed in the university report (in Danish): Gruppe 5 Rapport - Computerized Alcoholism

Overview

This repository contains the software stack for an industrial robotics project utilizing a UR5 series robotic arm equipped with a Weiss WSG-50 gripper and an industrial camera (Basler pylon) to accurately throw a ping-pong ball into a target cup.

The software integrates computer vision, coordinate frame transformations, trajectory planning via Jacobian matrix calculations, database management, and real-time robot control via ur_rtde.

System Architecture

• Machine Vision (machinevision.cpp): Utilizes Basler pylon and OpenCV to capture images, remove optical lens distortion using intrinsic camera matrices and distortion coefficients, and compute homography perspectives (cv::getPerspectiveTransform) to map pixel coordinates to real-world table coordinates. Employs Hough Circle Transforms (cv::HoughCircles) to…