Pick-n-Place
Project Objective
To design and support the implementation of an undergraduate-level robotics course project focused on applying concepts from manipulator kinematics, dynamics, and control. The project involves programming the PincherX 100 robotic arm to perform a pick-and-place task using AprilTag-based pose estimation and analyzing the effects of PID tuning on system performance. The objective is to reinforce theoretical content from ME 3460: Robot Dynamics and Control through hands-on application in a structured, simulation-to-hardware pipeline.
Contributors
Abstract
As a Course Assistant for ME 3460: Robot Dynamics and Control, I was responsible for designing and managing the course project for undergraduate students. The project centers on the PincherX 100 robotic manipulator and integrates multiple core topics from the course, including kinematics, dynamic modeling, trajectory planning, and feedback control.
The task requires students to perform a pick-and-place operation, using AprilTags to estimate the pose of payload objects and plan appropriate end-effector trajectories. Students implement forward/inverse kinematics and control the arm using a PID controller, tuning parameters to minimize overshoot and settling time. An optional advanced module encourages students to analyze the impact of different PID gains on tracking performance, emphasizing control design trade-offs.
The project was structured to align with course milestones, allowing students to iteratively build, test, and validate their controllers in simulation before deployment. I was responsible for developing the problem statement, supporting materials, and evaluation rubric, as well as managing logistics and providing technical mentorship throughout the semester. The project successfully bridged theoretical understanding with practical execution and encouraged deeper engagement with real-world robotic systems.