Through Cal Poly’s Summer Undergraduate Research Program, I am developing a robotic insertion system that combines a UFACTORY Lite6 robot, computer vision, force and torque sensing, Python, and a RoboDK digital twin.
The system performs automated alignment and insertion trials while recording synchronized measurements from the robot, cameras, and load cell. My work has included improving robot motion, refining camera alignment, setting force and torque thresholds, and developing a repeatable experimental workflow.
The next phase of the project focuses on collecting a larger dataset and comparing fully automated trials with human-in-the-loop trials where a person can review uncertain cases and approve or adjust the robot’s next action.
One of the biggest lessons from this project has been learning when a problem should be solved through software and when the better engineering solution is to improve the physical setup, sensing geometry, or starting condition.
Skills: Python, RoboDK, computer vision, robotics, data acquisition, experimental design, force and torque sensing