Robot Kinematics & Manipulation

Project Overview

Industrial robots operate in cartesian space (X, Y, Z positions) but are controlled in joint space (6 motor angles). This project required me to implement the mathematical transformations that bridge these two worlds, forward and inverse kinematics, for a Universal Robots UR3e collaborative robot arm.

I designed and programmed a complete pick-and-place system that:

1. Uses a stationary camera to detect colored blocks
2. Computes coordinate transformations from camera to robot frame
3. Plans collision-free trajectories to grasp blocks
4. Stacks blocks by color in designated locations

This demonstrates fundamental robotics skills: perception, planning, and control integration on professional industrial hardware.

UR3e collaborative robot with overhead camera system