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This project is based on optitrack, ROS-Noetic, ROS-Humble and Franka Panda Robot. Aim of it is trying to track a thrown ball with optitrack camera system and moving robot arm to predicted falling position and catch the ball.

This work is contributed by Yuzhe Ding, Shengping Yu and Yuedong Zhai under supervision from Philipp Holzmann, Alexander Rose at Control and Cyber-Physical Systems Laboratory (CCPS) of TU Darmstadt.

Overall there are three parts of the this project:

  1. Parabolic prediction of the ball.
  2. Coordinate Tranformation from Motioncapture system to robot system.
  3. Robot arm trajectory plan.
  4. Motion controller based on trajectory.

Gif

Final Catching result looklike this: Click to watch video

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