The initial test plan which picked up the cube with varies of size have been succeed. We can pick up the cubes the are 4x4x4 inch and 2x2x2 inch with a preset value in the x-direction. The accuracy depends on the physical measure of the distance. Since we are using a ruler to measure the distance some of the pickings have depend due to measure error, but overall, we have succeeded on the motion control of the robot.  However, for the cube that 6x6x6 inch, we are not able to pick up because it is too big to fit in the storage cover hole. However, the size of the hole is changeable.

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            For version 2 of the motion test plan, we given both x and y distance from the coordinate system. Initially, the robot is not able to pick up the cube due the fact it is no align with the tweezer. We have to either align the cube or control the tweezer angle to fix this issue. For simplicity, we just align the cube with the tweezer. As a result, the robot can complete the task assign in version 2 of the motion test plan.

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Overall, the robot was able to pick the 4x4x4 and 2x2x2 cube anywhere where the robot was able to reach. However, the given location X Y Z and the tweezer needs to be matched with the object the in order to pick up. The motion result does not have a big issue in term of control.