Robotic Arm Block Grasping

In this lab, we worked on a 5-DOF robotic arm, focusing on building autonomy through computer vision techniques, kinematics, and path planning to enable object manipulation.

Overview
Armlab has two separate components:
  • Computer vision, which involves
    • Camera calibration for an RGB-D camera
    Block detection
    Color detection
  • Kinematics, which involves
    • Forward Kinematics (FK) using DH tables
    Inverse Kinematics (IK)

Fig 1. The control station program launches three threads