Graduate Course Projects

Collaborated with three Mechanical Engineering students to simulate a pouring and mixing task done by a UR5e robotic arm. The simulation was done in ROS (Gazebo) and was implemented in real life after the simulation was thoroughly checked. Due to physical constraints and a global axis mismatch when implementing the simulation in real life, we adjusted the experimental setup to suit the physical constraints and to avoid singularities. The team also completed an analysis of determining the different singularity configurations of the UR5 robot via Monte Carlo simulation (n = 1000, 5000, 10,000) and wrote a research-style paper about our findings.