1D Palletizing
This is an early program that I made that picks parts from a gravity chute and palletizes them in one direction. This program uses sensors at the base of the gravity chute and on the gripper to ensure that it has the part is present throughout the process.
Precision Assembly
This program uses a smaller robot in order to assemble a small part. It starts by depalletizing the casing and using a fixture in order to reorient it for the next step. The robot then picks up two small balls and uses a limit switch to verify that it is holding both. It then takes the balls and puts them inside the casing. Finally the robot picks the finished assembly and places it in a box.