For my Final Year Project, conducted under the supervision of Dr. Danny Ng Wee Kiat, I embarked on the exciting task of developing advanced Robot Arm Control Software for a Mobile Robot Platform. The project's primary objective was to tackle the common immobility issue faced by robot arms, aiming to transcend workspace restrictions and enhance their capabilities. Leveraging the power of ROS (Robot Operating System) and MoveIt, I focused on designing a pick-and-place application to demonstrate the software's versatility and practicality.

One of the key challenges addressed in the project was enabling the robot arm to handle dynamically changing environments. To achieve this, I meticulously analyzed various Inverse Kinematics (IK) and Motion Planning approaches, ensuring the arm's adaptability and efficiency. The incorporation of an instantaneous OctoMap, updated from the depth camera, played a vital role in enabling real-time updates and seamless navigation within the environment.

To facilitate precise positioning of the robot arm, I employed a combination of wheel-base and LiDAR sensor technologies, bolstered by the navigation stack and cartographer SLAM (Simultaneous Localization and Mapping). This integration empowered the robot arm to maneuver effectively, avoiding obstacles while achieving accurate and reliable pick-and-place operations.

I am proud to mention that the excellence of my project was recognized when it secured the "Silver Award" in a prestigious poster competition with over 400 participants. This recognition reflects the significance and impact of my work, as well as the dedication and innovation invested throughout the development process.

The successful completion of this Final Year Project not only enriched my knowledge and skills in robotics, ROS, and motion planning but also provided a tangible solution to the immobility limitations of robot arms. I believe that the software developed during this project has the potential to revolutionize the robotics industry by unlocking new possibilities for mobile robot platforms and enhancing their application in various domains.