Vision-based entity Chinese chess playing robot design and realization

Abstract

This paper describes a lowcost method to design and realize a vision-based entity robot system which is able to play Chinese chess. One inexpensive camera is used with vision program to recognise the position, color and role of each chess by camera calibration, coordinate transformation, color segmentation, morphological method and some prior knowledge on Chinese chess. A robot arm with four cheap stears is designed and realised by inverse kinematics, trajectory planning and other method to move the chess. communication system is made to transfer information between control system and robot arm. At last Alpha beta pruning algorithm is realised as the robot’s bahavior. At last, the four parts above are combined to realize the whole syetem.