[ I am not sure of this section , so I need help elaborating this ]
The basic tasks involve trajectory planning and controller design ,
using moveIt!
https://moveit.ros.org/
or ORML https://ompl.kavrakilab.org/
This involves , apart from control , obtaining sensor data from various joints(?) of the arm and the camera #2
to obtain an idea of what the obstacles are to determine a path.
Apart from this , the secondary camera attached to the arm tip and an IR sensor attached here is going to act as a rudimentary SLAM tool , which can be used to detect obstacles, for path planning
Algorithms for cleaning , spraying and picking efficently have to be designed.
[ I am not sure of this section , so I need help elaborating this ] The basic tasks involve trajectory planning and controller design , using moveIt! https://moveit.ros.org/ or ORML https://ompl.kavrakilab.org/
This involves , apart from control , obtaining sensor data from various joints(?) of the arm and the camera #2 to obtain an idea of what the obstacles are to determine a path.
Apart from this , the secondary camera attached to the arm tip and an IR sensor attached here is going to act as a rudimentary SLAM tool , which can be used to detect obstacles, for path planning
Algorithms for cleaning , spraying and picking efficently have to be designed.