  Robotic manipulation and grasping in cluttered and unstructured environments
is a current challenge for robotics. Enabling robots to operate in these
challenging environments have direct applications from automating warehouses to
harvesting fruit in agriculture. One of the main challenges associated with
these difficult robotic manipulation tasks is the motion planning and control
problem for multi-DoF (Degree of Freedom) manipulators. This paper presents the
design and performance evaluation of a low-cost Cartesian manipulator, Cartman
who took first place in the Amazon Robotics Challenge 2017. It can perform pick
and place tasks of household items in a cluttered environment. The robot is
capable of linear speeds of 1 m/s and angular speeds of 1.5 rad/s, capable of
sub-millimetre static accuracy and safe payload capacity of 2kg. Cartman can be
produced for under 10 000 AUD. The complete design is open sourced and can be
found at http://juxi.net/projects/AmazonRoboticsChallenge.
