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