A Puzzle Solving Robot

Abstract

The objective of this thesis project is to build a robot that can clearly demonstrate its potential to solve standard jigsaw puzzles. This robot must be capable of picking up and reorienting puzzle pieces to the precision required for completing puzzles. It also must be able to capture and process images of the pieces it is manipulating. The control of this robot must be fully integrated such that applications can be written to control autonomous puzzle completion in a single language without full knowledge of the robotic electromechanical system. The nal system has the demonstrated ability to identify puzzle pieces placed on a white background, pick them up, and place them where directed. In addition, the system has the ability to evaluate the orientation in which two pieces with four corners t together, and the ability to complete a simple four piece puzzle. This demonstration of the robot's abilities proves that it is indeed capable of completing larger, more sophisticated puzzle solving tasks, and is a fully functioning integrated system.