3D Feeding Robot

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

"Food" = BB Pellets

System Setup