Modern Robotics Capstone Project | Coursera Specialization

This project involved developing a pick-and-place pipeline for a Kuka Youbot Robot in fulfillment of the Modern Robotics Coursera specialization. The pipeline takes as input the current position of the block in the world and the desired placement position of the block, generates a simple end-effector trajectory in task space and then generates joint velocities that track the end-effector velocity by using a kinematic model of the robot's joints. This implementation was deliberately modified from the original submission for the specialization in order to preserve academic integrity.