Mobile Manipulator

Tasks:

1. Perform Pick and place operation on our 5 DOF mobile manipulator robot.
2. Implement object detection and classification using the bridge for ROS, YOLO in CoppeliaSim.
3. Perform dexterous tasks for industrial purposes.

Progress Report

• Milestone 1 : Kinematics of Mobile Manipulator
• Milestone 2 : Trajectory Generation

Milestone 1

Video of Final Scene

• Status : Completed
• Description : Odometry for Mobile Manipulator
• Achieved Tasks :

1. Design : Designing 5 DoF mobile manipulator arm
2. Kinematics : Understanding Kinematics of mobile manipulator chassis
3. Odometry : Implementing Odometry for Mobile Manipulator chassis

Milestone 2

Video of Final Scene

• Status : Completed
• Description : Point-to-Point Trajectory Generation for end effector
• Achieved Tasks :

1. Quintic Time Scaling : Implemented Quintic time scaling for Trajectory generation
2. Discrete Point-to-Point Trajectory Generation : Computing set of N SE(3) configuration matrices for point-to-point movement of end-effector