How engineers play darts: A cable-driven dart robot
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- Опубликовано: 1 июл 2024
- The idea is simple: Throw a dart in the direction of the dartboard and the board will move automatically to hit the desired field.
A novel type of cable-driven robot is able to quickly and precisely move the tournament dartboard. Cables are wound in grooves around a regular tournament dartboard enabling not only displacement, but also arbitrary rotational movement. The position of the steel dart is measured by an infrared camera system. An extended Kalman filter is used to track the flight trajectory and predict the impact point of the dart. Finally, the dartboard is moved such that the dart hits the desired position. Here,
model- and measurement based control, including a nonlinear cable force balancing algorithm are employed.
The robot was built using standard industrial components and custom designed 3D printed parts. The robot is used as a proof-of-concept for the developed robot type and to win any friday night darts contest. The developed technology has a wide field of applications e.g. camera motion control systems, storage and retrieval systems, simulators, and exoskeletons.
TU Wien ACIN CDS www.acin.tuwien.ac.at/
00:00 - Robot introduction
00:21 - Object following
00:50 - Automatic bullseye
01:11 - Tripe 20: 15 hits in a row
Publications:
Feiler, G., Schwegel, M., Knechtelsdorfer, U., & Kugi, A. (2022). Design and analysis of a class of planar cable-driven parallel robots with arbitrary rotation. IFAC-PapersOnLine, 55(27), 82-88.
Tackling the dart catching problem drew inspiration from Mark Rober's video "Automatic Bullseye Dartboard".
( • Automatic Bullseye, MO... ) 
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So ein Board brauchen wir in meinem Verein. 🎯
Top Regelung 👍
Great work 👏
nice work!
nice
Stabil Bruder!
Da hat wohl jemand zu viel "Stuff Made Here" ( youtube.com/@StuffMadeHere ) gesehen.
Feines Projekt! :D
Erinnert mich an das Dartboard von Mark Rober: ruclips.net/video/MHTizZ_XcUM/видео.html
Das selbe dachte ich auch eben.
Cooles Projekt, aber ins Video hättet ihr schon ein bisschen mehr investieren können
haha YES!
Gab es bereits vor 15 Jahren. Mit normalen Kameras und handelüblichen Pfeilen ohne Marker. ruclips.net/video/HPAI4QkSvS8/видео.html
mit 70kW Motorleistung, einem Beleuchtungssystem mit kosten über 10.000€ und den "Besten der Besten" Kameras.
Stimmt! Einen Dartpfeil zu fangen ist ein cooler unterhaltsamer Benchmark um die Leistungsfähigkeit eines Robotersystems zu demonstrieren. Hier wird eine neue Seilkinematik demonstriert mit der die Dartscheibe auch sehr schnell gedreht werden kann. Es werden außerdem keine Führungen oder Schienen benötigt und die Regelung ist zuverlässig und wiederholbar. So ein Seilroboter hat natürlich viele "echte" Anwendungen in der Industrie. :)
n wort
University institute doing cutting edge research.
Oh wait... it's an incremental improvement on a system some youtuber developed for fun, 5 years ago. And in the press release they're talking like it was all their own innovative ideas and whatnot.
How embarrassing.
Catching a dart is simply a fun demonstration and benchmark for high performance robotic systems. Mark Rober's amazing and very impressive robot was by far not the first robot to do this. The goal here is to demonstrate a new cable driven robot concept and some efficient and performant control algorithms for achieving good performance and high reliability. Hitting the desired field 15 times in a row is not too embarrassing in my humble opinion. Catching a dart is simply a more entertaining demonstration than showing some numbers and curves on paper.
If you are interested in the technology behind the robot, there is a citation of the peer-reviewed paper which talks about the calbe driven robot concept in the description of the video. The paper is simply about robotics and not about darts at all. If you want more curves and numbers, there is a master's thesis coming soon describing the robot and the algorithms behind it.
You are right concerning the press - they do what they always do - they try to attract as many readers as possible by hyping it up. Some more reputable press articles actually mention Mark Rober's and other works and try to highlight the goal of creating more performant and more reliable robotics.
@MarkRober..............