ECE470 Project -- Beer-Pong Robot

A robot that can pick up a ball placed randomly on the table and throw it into cups.

Usage

Click on ece470_sim.ttt after installing V-REP.

python3 beer_pong_robo_exec.py

Package Dependency

numpy and modern_robotics should be preinstalled.

Historty

[04-26-2020] Final Version

1. Implement fully functional inverse kinematics, can goto the ball position given the ball's coordinates in world frame;
2. Jacohand can grab the ball and release the ball at appropriate time;
3. Implement tarjectory generation, can threw the ball to desired position given appropriated parameters;
4. Combine every functions, can now grab a random placed ball on table and threw it into the cup.

[04-12-2020] Update 3

1. Add inverse kinematic functions for the robot to calculate theta for each joint giver end factor's position;
2. Add trajectory planning functions to calculate the passing points for the end factor traveling from one configuration to another, need futher improvment;

[03-22-2020] Update 2

1. Add forward kinematic functions for the robot to calculate end factor's position given theta;
2. Vision sensor can detect the position of the spheres and do the frame transformation;
3. Set up the environment for Beer-Pong.

[02-16-2020] Update 1

1. Demonstrate using V-REP to control the robot simulator;
2. Accessing the data from the perspective vision sensor.

Video Link

Final Demo: Youtube
Update 3: Youtube
Update 2: Youtube
Update 1: Youtube

Contributors

Xinglong Sun(xs15)
Haozhe Si(haozhes3)