ME 449 Mobile Manipulation Capstone

December 3, 2020

Overview

In this project, I wrote software in MATLAB that plans a trajectory for the end-effector of the youBot mobile manipulator (a mobile base with four mecanum wheels and a 5R robot arm), performs odometry as the chassis moves, and performs feedback control to drive the youBot to pick up a block at a specified location, carry it to a desired location, and put it down. The code would generate csv files pertaining to the motion of the youBot mobile manipulator, which would then be upload to V-REP, which would be used to visualize the trajectory.

More details can be found in the Github repository.

Here is a video of the best working model