Overview #
A 6 Degrees-of-Freedom robotic arm built at A.T.O.M Robotics Lab for autonomous object manipulation and teleoperation. The system integrates computer vision for perception-driven pick-and-place and supports remote operation.
Key Features #
- Autonomous Pick-and-Place — Vision-guided object detection and grasping using YOLOv8 and depth sensing
- Motion Planning — MoveIt-based trajectory planning with collision avoidance in cluttered workspaces
- Teleoperation — Remote control interface for manual arm operation
- Simulation — Full Gazebo environment with custom gripper plugins for virtual testing
- Modular Architecture — Seven specialized ROS packages covering control, description (URDF), hardware drivers, perception, planning, simulation, and plugins
Tech Stack #
ROS Noetic · MoveIt · Gazebo · OpenCV · YOLOv8 · Arduino · Raspberry Pi · Python · C++