This document summarizes a student's work on an Amazon warehouse picking challenge project. It describes designing a Baxter robot system with dual suction grippers at a 45 degree angle to pick objects off shelves. Details provided include the robot sitting 1m from the shelf, suction cup designs tested, a 30 degree realsense camera angle, and a finalized gripper design. It also mentions the student helped with data collection and testing for other project members.

1. BEB801Project1:
Amazon Picking Challenge
Student:
Jake Dean
n8277664
Supervisor:
Dr Juxi Leitner

2. Amazons'
Warehouse

3. TheChallenge

4. TheChallenge

5. TheChallenge

6. TheChallenge
Hardware

7. TheChallenge
Hardware
What else is there?

8. TheChallenge
Hardware
What else is there?

9. TheChallenge
Hardware
Iterative Design Approach

10. TheChallenge
Hardware
Iterative Design Approach

11. TheChallenge
Hardware

12. TheChallenge
Findings
(Hardware)
• Baxter sits at a 45 degree angle wrt the shelf so one arm is used
• Baxter is to sit at about 1m away from the Shelf
• Dual suction with right hand angled suction cups
• I've got the data on what suction cups work with what object. *We received a few
more suction cups the other day so I'm going to have to test them and make a
conclusive decision on which suction cups*
• The angle for the Realsense from the main suction hand length is about 30
degrees (This allows the camera to see everything without seeing the end of the
gripper and relaxes the planner a little)
• Finalized gripper design.
• All other components are ready to go (except 240V relay)
• The URDF an SRDF are good to go.

13. TheChallenge
Other
Involvements
• I've been helping a co-member with data collection for the 2d object finding
system.
• I've been helping another member with collecting his data, and testing the output
of the CNN models he builds.
• There was an error in the Realsense depth scale that I collected data on and fixed,
which was later fixed by a firmware upgrade
• Small systems integration for code.

14. Thank you
Questions?
TODO:*Insert
picture of team
after we win here*