Conclusion
The use of robot systems in the field of medicine is growing rapidly. This project helped us to learn to use robotics and image processing knowledge for medical applications. It also helped us to enhance our knowledge about image processing, Robotic Operating System and various packages comes with it. The designed robot was able to perform path planning and reach a given set of joint angles while avoiding collisions successfully. Tracking system was able to track the position of the interested object within an one quadrant accurately. Therefore we can conclude that the overall project was a success and we were able to gather new knowledge in different areas.
Future Works
As future developments, one of the things we want to achieve is to integrate the robot arm and the tracking system. In order to do that robot controller should be able to handle all inverse kinematics calculations to reach a given coordinate rather than navigating to predefined location. In order to solve this we can increase the degree of freedom of the robot to 6 and implement the mathematics needed to calculate the end effector orientation at the goal position.
