1. TO FABRICATE 2 D-O-F ROBOTIC ARM AND CAPTURE THE REMOTE WORK SITE USING WEBCAM: The Robotic arm is to be designed and assembled with two corresponding re-volute joints, actuated with Servo motors and then that robotic arm (hardware) will be kept at remote work site and webcam will be set there(remote work site) in such a way that it will capture the robotic arm with real time remote work site background and it will capture a Real time video of Robotic Arm at remote work-site and display it to the monitor on PC of Operator.
2 Serial Communication:
The serial communication has been setup between the interface and Arduino. The Arduino has been programmed to provide a rotation to servo motor with the help of PWM signal corresponding to the amount of rotation provided through the control interface.
3. OBJECT DETECTION AND DESIGNING VIRTUAL GRAPHIC MODEL OF DETECTED ROBOTIC ARM:the Firstly from the video frame (which was captured using web cam and displayed on operator's monitor) we have to detect the Robotic Arm and then the virtual graphic model of detected Robotic Arm is to be designed of same dimensions as of (detected) real robotic arm in Python using Open CV and Open GL libraries .
4. Superimposition of the Virtually designed model over the (detected) Robotic Arm on a real time Video Frame
5. TO PERFORM THE TASK:After Superimposition, the operator will move the virtual robotic arm on the CAD augmented control interface(on monitor) as required for the remote work site task and Similarly the real robotic arm will show movement at remote work site.
6. Verification of motion:
In this section motion of the robotic arm get verified through the feedback by the real world arm that can be seen in the video frame. This task reduces the chances of any error and prevents from reaching the undesirable configurations. The developed module will be helpful to the operator for real time verification and error correction of the desired robotic arm movement in cluttered remote work-site.