Armlab : Robotic Arm Manipulation project

A project for 2021 Fall ROB 550: Robotics Systems Lab at University of Michigan, Ann Arbor.

An overview of this project:

Acting
- 6-DOF rigid-body coordinate transforms using homogeneous coordinate transforms
- Forward kinematics modeling of a manipulator
- Inverse kinematics modeling of a manipulator
- Grasping
Perception
- 3D image/workspace calibration
- Object detection with OpenCV
- Depth camera sensors -> Build a blocks detector
Reasoning
- Path planning & path smoothing
- State machines

Name		Name	Last commit message	Last commit date
Latest commit History 8 Commits
Install_Scripts		Install_Scripts
URDFs		URDFs
armlab_opencv_examples-master		armlab_opencv_examples-master
config		config
dynamixel		dynamixel
gazebo_shim_rs		gazebo_shim_rs
images		images
test		test
.gitignore		.gitignore
Doxyfile		Doxyfile
README.md		README.md
arm-joints-pid.txt		arm-joints-pid.txt
armlab_gui.ui		armlab_gui.ui
camera.py		camera.py
config_parse.py		config_parse.py
control_station.py		control_station.py
gazebo_shim.py		gazebo_shim.py
gazebo_shim_setup.sh		gazebo_shim_setup.sh
interbotix_robot_arm.py		interbotix_robot_arm.py
kinematics.py		kinematics.py
launch_armlab.sh		launch_armlab.sh
launch_armlab_gazebo.sh		launch_armlab_gazebo.sh
launch_rxarm.sh		launch_rxarm.sh
r.txt		r.txt
reboot_all_servos		reboot_all_servos
recordedPath.txt		recordedPath.txt
rxarm.py		rxarm.py
sample_block_config.json		sample_block_config.json
state_machine.py		state_machine.py
test_pnp.py		test_pnp.py
ui.py		ui.py

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