Arjun Sridhar, Felix Su, Sahil Sancheti
An automated system that accomplishes a collaborative TurtleBot delivery and Sawyer pick and place task.
The TurtleBot will retrieve an item, then drop it off in range of the Sawyer so it can pick up the object. We used Simultaneous Localization and Mapping (SLAM) during the delivery trajectory and ensured that the TurtleBot could navigate to position the object within reach of the Sawyer’s possible range of motion while avoiding objects. The Sawyer will grasp the object and relocate it to a new location. We located and tracked the object using a USB camera and AR Tags. To do this, we calibrated the relative locations between the robot arm and its target objects using static transformations to allow for a more accurate pick and place. The robot arm will also avoid known objects and boundaries encoded into its system.