Tic-tac-bot : Robotic arm that plays Tic Tac Toe

Sammanfattning

Robotic arms and similar technology are widely present within manufacturing today, increasing productivity massively. As the field of robotics progresses and artificial intelligence becomes more refined, it is likely we will see further applications of these technologies that may extend into daily life. This bachelor’s thesis will cover the development of a robotic arm, capable of interacting with a person through playing a game of Tic Tac Toe. The robot will be constructed with three degrees of freedom, wherein each joint will be driven by a servo motor. The playing field will be monitored by a camera mounted onto a simple tripod. It will identify the game pieces by analysing their RGB-values and mapping them onto a digital board accordingly. A minimax algorithm will then determine the best move to make and convert that into a set of coordinates on the board. Finally, those coordinates can be calculated into joint angles through inverse kinematics. Results show that the movement is precise with an accuracy of above 80%, games that are played with consistent lighting have a completion rate of 70% and average move time is 21.55 seconds.