Braccio Upgrade & robot Inverse Kinematics

All the code for this project can be found on my GitHub

This project serves as my personal exploration, focusing on enhancing my skills in computer vision and writing inverse kinematic solvers using various methods, such as minimising functions and different AI algorithms.

Key Components:

CAD design: Implementing a motor upgrade on the Braccio robot, involving the transition from servos to stepper motors. This task requires skills in CAD design using Fusion 360 to develop custom planetary gear boxes, with practical implementation accomplished through 3D printing.


Braccio Robotic Arm: Utilising the Braccio robotic arm for physical manipulation of objects for a pick-and-place demonstration.

Computer Vision: Experimenting with techniques to enable the robot arm to "see" the chessboard and recognize piece positions using object detection models already available.

ROS Integration: Incorporating the Robot Operating System (ROS1 and ROS2) to control the robot arm and facilitate communication among different components.

Inverse Kinematics: Developing an inverse kinematics solver for the robotic arm's movement that is fast enough for my requirements.

Docker Integration: Moving to Docker for development, eliminating limitations tied to my Linux PC and facilitating easier code sharing ( Adding the image to Github once I learn how to :)

Unity Simulation: Utilising Docker to use the Windows version of Unity and ROS2, preparing for simulating the robot through Unity.

TensorFlow Implementation: Employing TensorFlow to create an inverse kinematics model for the Braccio, aiming to enhance the speed of the current inverse kinematics process.