Introduction
The purpose of this project was to utilize a 4 DOF robot to pick up colored balls and organize them into four separate bins. To achieve this, both forward and inverse kinematics were calculated for the robot. Furthermore, I developed a computer vision pipeline to detect colored balls in the workspace (the checkered board) and a state machine to correctly locate, pick up, and sort the balls based on their color. More information can be found in the formal report or in our video below!