Robotics Project
Introduction
We want to dig into your understanding and skills around homogeneous transformations in 3D space and
usage of this in relation to practical robotics:
The Overall Task
A serial robot which consists of at least 6 revolute joints (OK to use a predefined from ROS/Gazebo/other
sources, or define your own) shall be used together with path planning and interpolation to move four
boxes and stack them on top of each other like it is illustrated in the two images below (completed task
on the right).
Info:
{b} : Base coordinate of robot
{t} : Tool coordinate of robot
{b1} : Box 1 coordinate
We assume that a camera or similar is used to measure the box pose {b1} relative to the tool {t}. This can
be calculated directly in the simulation SW, no need for simulating the camera.
The task is split into three levels, of which we ask you to deliver at least the first, but encourage you to
also complete the remaining two.
Level 1:
Implement in Python:
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Forward and inverse kinematics for an industrial robot of your choice
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Build it “from scratch” I.e., don’t use a ready-made robot-library like move-it, but feel
free to use basic libraries like NumPy. If you are in doubt about a certain library, please
don’t hesitate to ask us.
Create a clear figure showing all the DH coordinate systems
Level 2:
Implement in Python:
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Path planning and interpolation
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Again, please build it “from scratch”, without a robotics library, but use standard math
libraries and so on.
Level 3:
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Hook Level 1 and 2 up to a simulation.
Use Gazebo OR Unity3D, Unreal, Blender, ... for visualization
The goal is to visualize the robot and it’s environment
The overall goal is to demonstrate your fundamental skills in robotics in terms of:
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Robot forward kinematics
Analytical Inverse (No library or optimization framework)
Homogenous transformations in 3D space for pick and place
Robot interpolation n cartesian space covering both
● Positions (x, y, and z)
● Rotations (roll, pitch and yaw) or (quaternions)
Apart from the code, please prepare a SHORT presentation where you explain the following topics:
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Forward and inverse kinematics
Path planning and interpolation in 3D space
Deliverables
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Brief Presentation of your solution/project
o Include math and explanations for kinematics, path planning and transformations
needed to carry out the task
o Explain the simulation framework and SW architecture
Demonstrate the simulation and solution to the problem
GitHub repository with all the produced code and instructions for setup
o Share with GitLab users:
▪ Sondrest, intermaxim
Good Luck!
Please do not hesitate to ask questions, should anything be unclear.