Autonomous Arm for Optics

Using stereo vision, triangulation, kinematics, fiduciary tags, and depth sensing, we made a robotic arm that could autonomously assemble optical arrangements in just a couple of minutes that could take a human numerous hours.
This work is under the MIT Theoretical Physics Lab and is the first step in our goal of implementing robotics and AI to autonomously create optical setups without the need for human intervention.
Specifications:
Robot arm - Xarm 7
4k Camera - ELP 4K USB Camera
Depth Camera: Intellisense D435