NATHA SINGHASANEH
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Projects

3D Feeding Robot

12/12/2017

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Capstone Project for
16-382: Robot Kinematics and Dynamics


Task:
To control a 5 degree-of-freedom robot arm to simulate a feeding scenario.

Challenge:

Variable Bowl and Feed Locations.

Techniques Used & Topics Explored:
  • 3D Forward Kinematics
    3D Inverse Differential Kinematics
  • 3D Inverse Kinematics
  • Denavit-Hartenberg Transformations
  • Trajectories
  • Manipulability
Picture
Picture
"Food" = BB Pellets
Picture
System Setup
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