PincherX-100 Pick-and-Place with ROS and MoveIt
Project Overview
A ROS-based robotic manipulation system using the PincherX-100 arm for pick-and-place tasks. Integrated MoveIt for motion planning and custom marker-based vision system for object detection and placement.
Technologies Used
- ROS Noetic
- MoveIt Motion Planning
- AprilTag-based vision
- C++ and Python integration
Key Features
- Real-time object detection with AprilTags
- Cartesian and joint-space planning
- Custom gripper control via ROS topics
- Simulation in RViz and physical robot execution
Research Contributions
- Demonstrated hybrid planning for robust manipulation
- Seamless simulation-to-real transfer pipeline
- Toolpath optimization for constrained workspaces