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UR5 Pick and Place and Drawing

I worked in a group to use Inverse Kinematics and resolved rate control to complete a pick and place and drawing task with a UR5.

nyeli-kratzNyeli Kratz
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  • nyeli-kratzNyeli Kratz

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  • UR5 Blue Jay Drawing
completed project
Software
UR5 MATLAB

This project was created on 01/07/2023 and last updated a year ago.

Description

This project utilizes Matlab's ROS toolbox and Robotics System toolbox to control a UR5 robot arm. The user sets an initial position for the block and then the desired final position of the block within the UR5's workspace and then the robot picks up the block and moves it to the desired location. We accomplished this task using inverse kinematics, resolved rate control, and transpose jacobian control.

For our extra credit task, we used our inverse kinematics control system to draw any imported JPEG image.

Details

Files

FinalProjectReport_TEAM3_ CV_KK_NK_SY_SG.pdf

This report describes our Matlab alogorithms used to complete the tasks.

Adobe Portable Document Format - 557.40 kB - 01/07/2023 at 16:50

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