Collision avoidance of robot manipulator

Planar grasping requires collision avoidance in order to improve safety in real-site conditions and reduce damage to facilities and equipment. This project explores a solution that combines different control algorithms for motion trajectory planning and integrates different tools and coding packages in one single algorithm. Validation of the solution is conducted in a simulation environment and verified physically using a Franka robot manipulator.

Project Team

Student:

  • Zheng Jiezhi (Mechanical Engineering, Class of 2023)

Supervisor: