kuka-robot-as-camera-guy

Artificial Camera Guy

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Base Goals:

• Camera must detect face within a reasonable range (left/right, down/up, far/near). Movement must be smoothed using any (one) method.
• Prepare two setups, run experiments and compare them in a scientific manner.
• Pick one of these:
  1. Network: Communication via OpenShowVar (KUKA VAR PROXY) vs. XML via TCP/IP (KRLethernet)
  2. Camera: Mounted on the robot wrist vs. located in a fixed location.

Extended Goals:

• Try various methods for smoothing movement (e.g. n frames fixed average, n frames moving average, n frames moving median,...), compare them in a scientific manner.
• Use a depth-sensor (lidar or structured light, available in the Lab) or infer from the detected face size. Move the robot accordingly.
• Compare both setups mentioned in the base goals.

Document for safety workspace:

- in PDF, KUKA System Software
- KUKA System Software 8.3 (KSS_83_SI_en.pdf)
- Operating and Programming Instructions for System Integrators
- ### 6.11 Configuring workspaces
- In KRC - controller:
-- Step 1 - Determine Limits:
	Menu button(on top, a button with robot symbol) -> Display -> Actual position  -> axis- specific
	Rotate/move all axis and determined project specific limits and note down values
	
-- Step 2: Configuring the workspace:
	Menu -> Configuration -> Miscellenious -> Workspace monitoring -> configuration -> axis-specific -> 
		Enter name: "cameraguy"
		put all the axis values (noted from step 1)
		Mode: "OUTSIDE_STOP"
	Save

KRC usage:

- Navigator -> R1 -> Program -> select robodkSync -> click on select below
- Now, press and hold on forward play button (green color) on KRC display on top -> until program path is reached (in case of notification messages, select "confirm all" or "ok")
- Press and hold again and is running