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Modular Pick and Place Simulator using ROS

Framework

PEDRO TAVARES JOSÉ LIMA; PEDRO COSTA; ANTÓNIO PAULO MOREIRA

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

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Table of Contents Introduction

Problem

Objectives

System Architecture◦ Simulator in the Industrial Robotics Course◦ Scene Recognition◦ Configuration Space and Kinematics◦ Robot Movement◦ Control Tier◦ ROS Framework

Discussion and Future Perspectives

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

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1. The field of Robotics has become one of the most rapidly growing fields in the research and technological world.

2. Intelligent robots present key characteristics that enable the streamlining of automated processes associated to industry.

3. Pick and Place operations have attracted considerable interest from the research and industrial community as they present one of the most effective solutions to typical problems such as handling or transportation.

Introduction

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Introduction

Problem

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1. Robotic manipulators allows to maximize the efficiency in several industrial processes.

2. The development of flexible robots represents the possibility of them becoming a highly efficient operator.

3. Using a generic framework promotes the development of modular and simple software that together fulfill the state-of-art requests of the industry.

Introduction

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Introduction

Problem

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1. Develop a simulator that captures the main challenges in robotics:

i. Uncertainty in the scheduling of a robotic task.

1. Irregular and non structured environment.

2. Existence of static and dynamic structures.

ii. Difficulty in conciliation between Time and Complexity.

iii. Lacking of codification in a standard way.

iv. Need to develop a safe and efficiently system.

Problem

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Introduction

Problem

Objectives

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Objectives

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Problem

Objectives

System Architecture

1. Development of a flexible system architecture.i. Intelligent scene recognition.

ii. Generic Path planner.

iii. Low execution time.

iv. Modular development.

v. Easily adaptable.

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System Architecture

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Objectives

System Architecture

Simulator in the Industrial Robotics Course

Tier ID Tier Specifications Examples

I Recognition of the

environment. Strategy Planning.

Image Processing, Camera-Laser Triangulation…

II Movement of the robot Grabbing or Placement

A*, Dijkstra Algorithm, Heuristics…

Joint Control, Strength Control on Gripper, Close

Identification

III Control of changes and responses

Feedback Control Loops, Adaptive Strategies

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System Architecture

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Objectives

System Architecture

Simulator in the Industrial Robotics Course

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Simulator in the Industrial Robotics Course

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

System Architecture

Simulator in the Industrial Robotics Course

Scene Recognition

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1. Image Processing;

2. 3D Model;

3. Object Classification;

4. Decision Tree;

5. Objects’ Dictionary / Class / Instance;

Scene Recognition

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Simulator in the Industrial Robotics Course

Scene Recognition

Configuration Space and Kinematics

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Configuration Space and Kinematics

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Scene Recognition

Configuration Space and Kinematics

Robot Movement

1. Configuration Space.

i. Spacial Discretization.

ii. Structure containing the all the

possible robot configurations and

respective properties.

iii. Definition of each configuration

cell.

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2. Kinematics: Transformation of cartesian poses into robot states and vice-versa.

Configuration Space and Kinematics

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Scene Recognition

Configuration Space and Kinematics

Robot Movement

DH Parameters Appliance of Linear Transformations

Transformations Equations

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1. Determination of Final Pose.

2. Quadrant Consideration.

3. Approach Path Planning.

4. Joint Control.

Robot Movement

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Configuration Space and Kinematics

Robot Movement

Control Tier

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1. Feedback Loop.

2. Auto Corrective Algorithm.

3. Minimization of Errors.

Control Tier

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Robot Movement

Control Tier

ROS Framework

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1. ROS allows the decomplexation of problems.

2. Each Tier of the proposed system architecture can be associated with a node which runs separately from the others.

3. The communication between nodes is assure by topics, services and messages.

ROS Framework

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

Control Tier

ROS Framework

Discussion and Future Perspectives

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1. This simulator shown results in term of motivating students and it allowed those students to understand in a simple way how the robotics field is evolving.

2. Moreover, during the tasks they were confronted with a range of situation commonly found in industrial environment surrounding robotic manipulator arms.

3. The real problem of EuRoC shown to be useful in terms of understanding the robotics situation and potential.

Discussion and Future Perspectives

ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK

ROS Framework

Discussion and Future Perspectives

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Thanks for your attention!