Robot Arm v.s. Various Blocks

This is Section2 Team 9's arm lab project git repository for ROB550: Robotic Sys Lab.

The team members include: Ziqi(Jackie) Han, Siyuan(Lynx) Yin, Hongjiao(Oliver) Qiang.

1. Block Detection

Our implemented block detector exhibits robustness in the detection of the position, color, orientation of many kinds of blocks, including cuboid, arch, triangle, semi-circle, cylinder. The procedural steps of our algorithm primarily encompass initial object detection, Contour optimization via clustering, color recognition, and object classification.

• Contour optimization via clustering

• Color recognition

• Object classification

• Result

2. Robot Control

We implemented the forward and inverse kinematics of a 5-degree-of-freedom robotic arm using both the DH method and the PoX method. We also employed interpolation techniques for path planning. Based on this, we achieved tasks such as grasping, placing, stacking, and arranging objects.

3. Documentation

• Project Document: [PDF]