Zero-G Tumbling Target Capture via Robot Arm

In this project for my Manipulation class, I implemented IK-based trajectory control and motion planning for capture of zero-gravity tumbling objects using the Drake simulation toolbox and a Kuka iiwa robot arm model provided within the toolbox. At a high-level, it uses a pseudo-inverse controller and a pre-specified trajectory of end-effector poses in order to navigate the gripper to the correct capture pose and activate the gripper to stop the target.

For more, feel free to check out the technical report and the short demo clip below.