Labgrasp: Introduction to Robotic Arm Motion Control and Perception

Note: This is my first attempt at using a Dobot robotic arm, where I have combined motion control and perception to complete some beginner-level projects.

Project1: GroundingDino + SAM + FoundationPose + Anygrasp

grasp1.mp4	grasp2.mp4	grasp3.mp4
grasp4.mp4	grasp5.mp4	grasp6.mp4

Project2: Compliant Control of the Dobot Arm

compliance1.mp4

compliance2.mp4

Note: Thanks to my colleagues J.X. Zheng and Z.C. She for optimizing the parameters of the impedance controller.

Project3: Peg-in-Hole

peg-in-hole.mp4