Results and Video Demos

We were able to manipulate the sawyer arm with the vacuum gripper attachment to the correct orientation in order to have the object achieve a goal orientation. We used a camera and AR Tags on a stationary background point and on the object itself for sensing. To achieve the goal orientation, we used move_it to compute a trajectory plan and move the sawyer’s end effector to a starting position, measured the error from goal using the AR tags and the sensing camera, and then iteratively updated the position of the end effector to achieve the desired orientation of the object using a proportional controller.

These images depict the relationship, as computed by our model, between the pose of the vacuum gripper and the pose of the rigid object grasped by the vacuum gripper. The pose of the vacuum gripper is given as an angle, θ_gripper, relative to the horizontal plane (horizontal reference pose) as depicted in Figure 1 and the pose of the object is given as an angle, θ_object, relative to the horizontal plane (horizontal reference pose) as depicted in Figure 2.