Robotic Arm

Overview

A manipulator is a device used to manipulate materials without direct physical contact by the operator. Manipulators have the ability to reach into tight spaces and remove workpieces.

Implementations

In this project, we study the manipulator's

Forward kinematics
Inverse kinematics
Dynamics

Forward Kinematics

When we know the degree value of each joint, we can use forward kinematics to compute the position of the end effector. We can use basic trigonometry and the Denavit Hartenberg parameter to determine forward kinematics. In this example, we utilised D-H parameters to compute forward kinematics for a 3 DOF robotic arm.

Inverse Kinematics

Inverse kinematics is concerned with calculating the angles of joints (i.e. the angles of servo motors on a robotic arm) that would allow a robotic arm's end effector (e.g. a robotic gripper) to reach a particular target position (x, y, z) in 3D space

Here our aim was maneuvering end-effector in straight line path in task space

Pick And Place

Pick and place is the process of moving an object from one spot in a robotic arm's workspace to another.

We took the initial block position and the final position from the user.
Then we achieved that position using the trajectory generated by the PID controller.
To move the robotic arm in the workspace, we used the Pybullet function called JointMotorCotrolArray.

GitHub

Team