Project information
- Name: Frank Emika Pick and Place
- Course: MEAM520 Introduction to Robotics
- Instructor: Prof. Nadia Figuera
- Project date: Sept-Dec 2023
- Project URL: Github
About
This project highlights the development end-to-end pipeline for a 7 Degrees of Freedom (DOF) Franka Emika robotic manipulator, aimed at executing the task of picking and placing. Utilizing the Robot Operating System (ROS) and Gazebo simulation framework, the core of this project was the creation of a sophisticated motion planning algorithm. This included the integration of Geometric Inverse Kinematics and a bi-directional Rapidly-exploring Random Tree (RRT) for precise and efficient control. The project's complexity was evident in the handling of static and dynamic blocks, where optimized positioning of the robot’s end-effector and camera played a crucial role in accurate detection and manipulation.
In addition to technical prowess, the project demonstrated practical problem-solving skills and adaptability in a competitive scenario. A significant achievement was the development of an analytical Inverse Kinematics (IK) solution, which enhanced the speed and efficiency of the robotic manipulator, a critical aspect for real-time applications.