In this project we aimed to perform collaborative tasks using a robot (RV-2AJ) which does not have any of these features by default. The first task was stop state monitoring which stops the robot whenever any human or any object come in the work space of robot. The second task was to perform collaborative tasks by tracking a defined object in robot work envelope and by applying inverse kinematics robot end effector following the object as it moves in space. The other task involves hand guiding the robot end effector using the defined object.
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