Module 16 · Phase 5: Deployment engineering
Manipulation & Robotic Arm Integration
Integrate a camera, gripper and arm: hand–eye calibration, object pose to grasp pose, MoveIt 2 setup and diagnosing failed picks.
This overview is open. 5 of 5 guides are written; the others show Coming soon until they are complete and tested.
Questions this module answers
- How do I select a gripper?
- How do I locate an object in robot coordinates and convert a detection into a grasp pose?
- How do I configure MoveIt 2?
- How do I diagnose a failed pick-and-place?
What it covers
- Gripper selection
- Camera-to-robot calibration
- Object pose estimation, grasp planning
- IK, MoveIt 2, collision geometry
- Force/torque and tactile sensing
- Grasp validation and recovery
Guides and design decisions
A. Engineering Guides (4)
B. Design & Selection (1)
Diagnostics, tools and challenges
C. Troubleshooting (1)
- Pick-and-place failsThe gripper misses, drops or collides with the object.
E. Design challenges (1)
- Challenge 3: Vision-Guided ManipulationCamera, gripper, calibration, object pose, grasp planning, motion and grasp validation.
Practical deliverables
- Pick-and-place debugging guide
- Hand–eye calibration procedure
Read first: existing FixTheRobot lessons and labs
This module builds on these instead of repeating them.
- Learning to Grasp Robot Learning · Lesson
- Contact-Rich Manipulation Robot Learning · Lesson