Robotics Institute 

University of Michigan, Ann Arbor

© 2017 by Bruce Personal Website. 

Updated on 8/21/2017

Abstract— The goal of this project is to control a robotic arm manipulator to perform various tasks such as learning and repeat, catching as well as designing an appropriate gripper to catch the target. We successfully completed each of the lab tasks and placed second in the final catching competition with 10 seconds to capture all five targets.

Gripper Design

Workspace Calibration

Forward Kinematics

Inverse Kinematics

Gripper Control

Planning and

State Machine