Developing a Pick-and-Place Robotic Arm

Development of a 4-DOF serial robotic manipulator designed for pick and place tasks. We discuss robot kinematics, camera calibration, transforming 2D pixel coordinates into 3D world coordinates, object detection and classification, and object localization challenges.
This project was made by Kai Nakamura, Owen Sullivan, and Evan Carmody for RBE 3001. More details and a full report can be found at kainakamura.com/project/rbe3001.

[@Haza3137]

Dude amazing work

[@timothysands5537]

For the forward kinematics, i thought the matrices were exponentials of those 4x4 transformation matrices with [omega, velocity]. Love this video btw, awesome presentation

[@khusanakramkhodjaev5583]

this is so cool

[@samm7716]

wish i had friends like you

[@NowayJose14]

Wonder if you could use the new gpt api to understand where objects are and how to mainuplate them

[@chamodbandara5754]

brother this is awesome! what areas should i study to get in to this.

[@miron__]

probably trigonometry, linear algebra and Python programming

[@calebjones3062]

The ball juggler

[@enderslayer2111]

You guys use mathlab damn that's cool

[@enderslayer2111]

Can you do more of this videos how did you guys design the hand was it via solidworks I working with a robot hand but I having trouble with it

[@kaihnakamura]

The arm we used is the OpenMANIPULATOR-X. More details about it can be found in our full report here: kainakamura.com/project/rbe3001

[@kid-a]

Very nice video! The reference frames shown @3:46 are left-handed, not right-handed. Was this intentional?

[@kaihnakamura]

Good catch! No this was not intentional, the x and y axes should be switched in each frame.

[@kid-a]

@@kaihnakamura Got it. Anyway, really good video. With your permission, I'd like to use this video for when I'll teach RBE 3001 in C term.

[@kaihnakamura]

@@kid-a Absolutely, feel free to use this video!

[@qutabshah8201]

Can you please explain how we design the algorithm regarding conputer vision based pick and place robotic hand?? I'm struggling with my project

[@kaihnakamura]

There’s no one right way to create a computer vision pipeline, but there are certainly some things that help a whole lot. One of the more difficult steps is getting the color thresholding just right since it can vary a lot with ambient light levels so it’ll inevitably pick up some unwanted pixels. To combat this, I highly recommend using the MATLAB imfindcircles function to clean up unwanted pixels. In my experience it works far better than other alternatives like erosion. Best of luck with your project!

[@DIYRobotGirl]

How are the servos not blocki g each other with no timed millis. I still dont understand in the code how the servos know where to go or when?

[@miron__]

The Dynamixel servos are more advanced than normal servos. They each have their own processor and can receive a command to move their joint to a specific position, which they then do without additional help from the main computer

[@python.programmer5567]

How do you display the data in a 3d simulation?

[@kaihnakamura]

All of the 3D plots were made in MATLAB, mostly using the plot3 and quiver3 functions. Full code can be found here: github.com/KaiNakamura/RBE3001

[@python.programmer5567]

@@kaihnakamura thank you

[@MDFB985]

can you send the link of any paper on this you have cited or writed ?

[@kaihnakamura]

Yes! I've got some more details and a full report on my website at kainakamura.com/project/rbe3001

[@MDFB985]

Thanks @@kaihnakamura

[@enderslayer2111]

How can I get to talk to you I wanted to know how u guys came up with the program and did you use java

[@kaihnakamura]

We used MATLAB to control the arm, you can look at the source code here: github.com/KaiNakamura/RBE3001

[@enderslayer2111]

Hi can you help me out please

[@falin9557]

is 1400€ low-cost? I found way better, full aluminium, 6-DOF robotic arms for not even a 10% of the price

[@sshinde3394]

Can you please give link for that?

[@dinoscheidt]

Ha … one can always spot the noobs prone to falling for scams from the far east @falin9557. A single motor of this thing costs 300 USD (they use the DYNAMIXEL X430)… same cost for equivalents that have the driver, sensors and torque of 4,8 newton meter to enable this size and repeatability.

[@dinoscheidt]

There is sadly no link. @OP is just a someone who pulls on a door with a push sign. This arm uses already quite affordable DYNAMIXEL X430 motors having a driver, sensors and torque of 4.8 newton meter. A single motor is about 300USD… and they are needed to enable the arms range and repeatability.