This raspberry pi 3 based robot was part of the 2018 workshop series for the QUT Robotics club. For the first half of the project, we built our own brand of robotic arms (Armageddon) with a position-based inverse kinematics controller that made the tool-point of the robot follow a trajectory given by keyboard presses and later a gamepad. The second half expanded the work towards building a vision system for the robot to autonomously see a ball, given some reference points to its frame of reference, and plan a trajectory to pick up the ball and place it into a box.
The documentation, python code, lasercutting files, parts list, workshop slides and Matlab simulations are all on the Github repository:
Github Project by Andrew Razjigaev: