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Project Description: As part of the CSUN ARCS (Autonomy Research Center for STEAHM) program, our team collaborated with industry partner MiniMed to develop an automated solution for a medical device packaging process.
My Contributions: Before departing for my internship, I developed pick and place motion routines for the Fairino FR5 and Universal Robots UR3e in python. I also developed an OpenCV-based vision system using ArUco markers for tray pose estimation.
Skills Applied
Robot Control
Programmed and controlled 6-DOF industrial robots using joint and linear motion commands. Developed Python-based motion routines through robot APIs to execute automated pick-and-place sequences.
Pybullet Simulation
Set up a virtual environment in Pybullet to test out robot movement sequences before deployment on physical hardware.
Coordinate Transformations
Used 3D coordinate transformations to relate positions and orientations between cameras, ArUco markers, trays, and robot frames. Applied these transformations to estimate object poses and calculate pick-and-place locations from known tray geometry.
Videos will be added pending approval from MiniMed.
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