Armlab
Armlab was the first half of the ROB 550: Robotics System Lab wherein I honed my skills in working with a 5-DOF robotic arm, building a comprehensive system around it. Here’s a snapshot of my learnings:
Acting:
- Forward kinematics modeling of a manipulator
- Inverse kinematics modeling of a manipulator
- Grasping techniques
- 5-DOF rigid-body coordinate transform using homogeneous coordinate transforms
Sensing:
- 3D image calibration
- Object detection using OpenCV
- Implementation with depth camera sensors
Reasoning:
- Path planning and optimization
- Designing state machines for efficient operation