This project utilizes Matlab's ROS toolbox and Robotics System toolbox to control a UR5 robot arm. The user sets an initial position for the block and then the desired final position of the block within the UR5's workspace and then the robot picks up the block and moves it to the desired location. We accomplished this task using inverse kinematics, resolved rate control, and transpose jacobian control.
For our extra credit task, we used our inverse kinematics control system to draw any imported JPEG image.