Arduino Robot Arm plays Tic Tac Toe using MATLAB and C-program

Two Link Robot Arm Model (TL_RAM)
This video is for TL_RAM Ver 3

(The older Video was TL_RAM Ver 2)

The Game:
The robot can play N x M Tic-Tac-Toe
Where K-in a line is winner
In this video N = M = 5 and K = 4

The arena shown in the video, has a provision of playing 5x5, 6x6 and 7x7 Tic-Tac-Toe

The video shows 3-matches between Human and Robot
with 5x5 Tic Tac Toe; 4 in a line wins

MATLAB program runs on PC
C-program runs on Arduino

Working:

STEP 1: MATLAB(R): Checks if Arduino is connected to PC and responding

STEP 2: MATLAB: Takes a snap-shot from camera,
converts game-arena image to 5x5 numeric matrix,
checks if one more checker is added,
repeats this step until human has played
also checks for cheating/manipulation
audio is played from time to time using opensource Text To Speech

STEP 3: MATLAB : Apply game strategy algo :
Computes cost-matrix, finds a defensive move if offensive move is NOT found.
Game difficulty levels can be set
Finally returns the row and column number where the next move is to played

STEP 4: MATLAB:
The row and column numbers are converted to Cartesian coordinates.
The checker is to be moved from the storage rack to the board by moving both the arm-links with certain angles.
The coordinate info is translated to angles using basic trigonometry
The angles are converted to Servo motor counts.

STEP 5: MATLAB: A 21-char string, named TL_RAM Protocol string is prepared containing: the servo motor counts and is passed to Arduino. The C-program (hex) process (parses) the protocol string by activating Servo(s), Electro magnet, flash light, buzzer, status-LED(s).

STEP 6: Arduino : If all is successful the Arduino returns the same string back; (this way the MATLAB program knows it can send next string now) otherwise with error codes embedded in the same string.

STEP 7: Go to STEP 2 until game reaches a conclusion

STEP 8: MATLAB: Free the resources, save log file (every thing: Images, debug info, moves etc. etc. is logged for later analysis)

Future Expansion: Ver. 4: PC will be replaced by Raspberry Pi to make it standalone in TL_RAM Ver 4
More:
A KitKat (break and make) PCB is provided. All the robot's structural parts (the links etc) are made from PCB.
A USB web cam is used. Provision is kept (on PCB) to use image sensor module directly instead of USB-web-camera.

Cost:
Around $60US OR INR3,600/-

Purpose made for students and hobbits to learn the basic concepts of robotics.
Work is in progress for a hard-bound paper book !
eBook is being developed (along with source-code) on www.WittyRobo.com

Видео Arduino Robot Arm plays Tic Tac Toe using MATLAB and C-program канала WittyRobo