Robotic Beer-Tapping Algorithm Development

Project Requirements
1. Algorithm Implementation:
o Develop an algorithm using inverse kinematics (IK) for the beer-tapping process.
o The algorithm should dynamically calculate the robot's joint angles based on the random positions of the glasses on the desk.
2. Randomized Input:
o Ensure the process works for random positions of the glasses on the desk, without predefined or manually set positions.
3. Collision Avoidance:
o The algorithm must incorporate collision avoidance to ensure the robot arm does not collide with the glasses, desk, or any other obstacles during the process.
4. Upright Glass Position:
o Maintain the glasses in an upright orientation throughout the robot arm’s movements to prevent spillage.
5. Replication of the Process:
o Implement the same beer-tapping process as shown in the provided video.
o The robot arm should execute the pouring motion accurately and consistently.
6. Functional Completeness:
o Ensure the algorithm enables the full functionality of the beer-tapping process, including:
 Picking up the glass.
 Moving it to the beer tap.
 Filling the glass.
 Returning the glass to its original/random position.
7. Code Structure:
o Avoid using manually defined angles or end-effector positions in the code.
o Ensure the solution relies solely on the inverse kinematics algorithm for motion planning.
8. Robustness and Stability:
o The implementation must handle variations in glass placement without errors.
o Ensure smooth and stable movements of the robot arm.