Baxter Robot Pouring Beads

For the semester project in my Robotics class, I helped program a Baxter robot to carry a bottle full of beads across a distance without spilling and pour the beads into a cup.

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To design the trajectory, I used the MATLAB Robotics Toolbox to define the kinematics of the Baxter robot. I created an algorithm to divide up the trajectory into waypoints, compute the inverse kinematics to get from waypoint to waypoint, and tell the end effector to rotate to pour the beads.