Abstract:
Since hundreds of years, human played with small stones for
entertainment, cleverness and challenge, one of those games was the chess,
since more than 1500 years chess has been considered as an indication for
genius and leadership.
The project is an industrial robot arm from kind SCARA (Selective
Compliance Assembly Robot Arm) that can play chess game against a
human, this Robot can think, make decisions and also it can move the chess
stones between the different locations. SCARA has three Degrees of
Freedom (DoF) which are two rotational motions and one prismatic, this
enables the Robot to reach any of the 64 locations on the chess board in
order to pick and place the stones.
The Electrical board (E-Board) on which the robot picks and places
the stones is connected to the computer using interfacing cards also, 64
switches are put at the center of each square in the board to sense each
movement done by the human or the robot.
A suitable chess engine on the computer is used as the software that
manages the game. A monitor is placed beside the robot to show the game
steps.
Basically the project depends on two software, chess game and
MATLAB. MATLAB is the software that controls the robot; it includes the
controlling algorithm and the motion algorithm to control the robot‟s joints.
