Autonomous Robotic Arm for Handling Small Lenses

For my senior engineering capstone project, my team was tasked with designing an autonomous system to handle small (10 mm diameter) lenses in an assembly process. I was responsible for developing the perception and autonomy stack while my teammates developed the mechanical systems for handling the lenses. In the end, I trained an implemented a neural network to detect the lenses, used stereo vision to deproject the detections to points in space, and used ROS to send these points to the robotic arm as end-effector goals. See a video of our full design running HERE.