Keyboard Typing

“Tags”: C++, OpenCV, Arm Control, Computer Vision, USB Camera

TL;DR: During the ES mission, we want to type on the lander keyboard autonomously with the robotic arm. There are four ArUco tags located at the corners of the keyboard, which we will use to automatically align with the keyboard using inverse kinematics. Once we have aligned with one of the keys, we move the arm purely vertically and horizontally with joint A and by opening gripper to press the rest of the keys. Currently, there is no method to align along the z-axis; however, it seems possible to get this information by analyzing the size of the detected tags. The end goal is to get the typing service, that when called with a parameter (the code to be typed), to correctly manipulate the arm to align with the keyboard and type the correct code.