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This robotic system uses a camera and a mechanical arm with three degrees of freedom to recognize objects and calculate paths to pick up and deposit the objects in the appropriate receptacle.
GitHub repository: https://github.com/cooperducharme/RBE3001_Visual_Robotics
Active Recognition
Active Recognition
When a new object is introduced to the work area, the robot system automatically identifies the object and calculates a trajectory from the end effector's position to the object using inverse kinematics.
Object Linearization
Object Linearization
The robot system calculates the object's actual location in the horizontal plane using the object's perceived location based on the position of the camera relative to an object's location in the workspace.
Color Sorting
Color Sorting
The robot system is able to identify, locate and sort objects by their color.
Inverse Kinematics
Inverse Kinematics
When automatically calculating joint actuation that corresponds to a desired end-effector trajectory using inverse kinematics, the robot system uses determinant calculations to avoid singularities, which are positions that yield an infinite number of possible movements and usually result in rapid and erratic limb movements. In this context, inverse kinematics refers to the calculation of angles between limb segments that result in a desired end-effector position.
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