Robotics-Vision-and-Control

Robotics, Vision and Control course's assignments at UNIVR. Each folder correspond to one assignment, within there is its main file.

Joint Space Trajectories

The Joint space trajectories implemented are the following one:

• Polynomial trajectories (3th-5th-7th order)
• Cycloidal and Harmonic trajectories
• Trapezoidal trajectory
• Double-S trajectory
• Multi-Point trajectory

Model based trajectory

• Trajectory based on torque constraints

Operational Space Trajectories

• Linear and Circular primitivies

Vision

The topics taken into account are:

• 3D acquisition system
• Image analysis
• 3D analysis
• Hand eye calibration

UR5 Control Architecture

RVC_Cartesian_PD_control_gravity_compensation and RVC_Joint_PD_control_gravity_compensation are simulink models in order to test the trajectories in a real architectures.

Results

All the achieved results are shown in the presentation.