In this project, we designed a gripper for a 6-DOF robotic arm and used to accomplish several Pick-and-Place tasks, where we had to line up or stack up coloured blocks in a specific colour order. We also developed a trajectory module to generate smooth and safe paths using inverse kinematics, obstacle avoidance and path-smoothing algorithms
We used Kinnect depth sensor and RGB camera to implement block detection and colour detection algorithm. The motors powering the robot arm joints were Rexarm motors.
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