Autonomous Pick and Place System

Working alongside 2 other teammates, I enabled the 3 DoF 3D-printed Hephaestus Robot Arm to pick and sort colored balls on a checkerboard. We used computer vision to localize the balls and identify their color. A combination of inverse kinematics was used with trajectory planning to smooth out and control the arm's movements around the task space. I was mainly involved with camera calibration and object classification. Overall, the robot performed pretty well. Other than colored balls, it was also able to detect and then pick up random objects and perform dynamic localization.