Franka Panda Pick and Place Challenge
Franka Panda Pick and Place Challenge
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I took part in a competition where teams of 3-4 students compete head-to-head in a block stacking challenge as their class final project for MEAM 5200. Each team controls one 7 DOF Franka Emika Panda manipulator arm using their modeling/planning skills and gaming strategy. The team that stacks the most blocks wins!
Also, we made it to the quarter finals!
Here's the scope of the project, our approach, and my contributions.
Here's the scope of the project, our approach, and my contributions.
Our Methodology:
Our Methodology:
State Estimation: Compensating for Noise from April Tag data
Path Planning: Comparing Artificial Potential Field, A*, RRT, Bezier Curve Paths
Motion Control: Comparing Position control, Velocity control, Force Control
Static/Dynamic Planning: Optimizing static block picking order and dynamic block picking strategy.
Code Architecture
Code Architecture
My contributions to the project:
My contributions to the project:
Bezier Curve Generation
Dynamic Picking
Position Control Motion Control
Velocity Control Motion Control Calibration in Simulation
Code vectorization in Forward Kinematics, Jacobian estimation, Static Block Picking Order.
Fail safes in the code.
Learn More Here!
Learn More Here!
MEAM_5200__FINAL_REPORT.pdfMEAM 5200 Final Project Presentation_Dhruv.pptmPage updated
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