The purpose of this project was to design an Inverse Kinematic controller for the Kinova Jaco2 robot to follow some given tasks. The control objectives include position only without exploiting the redundancy, given by both the position and the orientation, the end-effector orientation needs to be changed, and the redundancy needs to be exploited by maximizing the manipulability.
In this project, an adaptive technique was implemented to determine interest points or 3D objects based on the Harris operator, which is done by determining the neighborhood of a vertex over which the Harris response is calculated.
In this project, a simple face recognition system was designed based on a very small dataset of the training images. The two main steps of this project include data normalization and face recognition. After the normalization of the training data set, principle component analysis was incorporated. A simple Graphical User Interface was designed.
The main goal of this project was to develop a visual inspection system. The following seven fault conditions were aimed to be detected - Bottle under filled, Bottle over filled, Bottle has label missing, Bottle has label but label printing failed, Bottle label is not straight, Bottle cap is missing, and Bottle is deformed in some way.
In this project, a gesture-controlled pick-and-place robot was proposed with a drive system. This design is wirelessly controllable using a hand module. The main purpose was to aid physically disabled people to manipulate an object as they wish. Moreover, it will be useful in industrial work as it has the option of mobility, a trait that conventional pick-and-place robots do not have.