Location: Ann Arbor, MI | 08/2024 - 12/2024

Gitlab: https://gitlab.eecs.umich.edu/armlab-s011_g12/armlab-f-24-group-12

 

Developed various features and functionality for the RX200 Robot Arm as a team of two. This included established the FK and IK of the arm, setting up the CV system with Homography and frame transformations, and adding functionality such as path planning for later tasks such as pick and place and stacking blocks. Object detection, workspace reconstruction, and the front end/backend were implemented with Python and ROS2 as the robot middleware. 

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For the purposes of a competition between teams, higher level features were implemented, including sorting blocks by size and color, lining them up in a rainbow pattern, and stacking them vertically. The team additionally designed a toy ball launcher in SolidWorks that theoretically could be loaded and primed using just the robot arm, however extensive testing and validation of the launcher was not performed.