Modular Pick and Place Simulator using ROS Framework
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This document describes a modular pick and place simulator developed using the ROS framework. The simulator was designed to address challenges in robotics like uncertainty in scheduling tasks, irregular environments, and the need for safe and efficient systems. It uses a three-tier architecture for scene recognition, path planning and movement, and feedback control. ROS allows each tier to be developed as an independent node for modular and flexible design. The simulator was effective for teaching students about robotics challenges in an accessible way.
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Modular Pick and Place Simulator using ROS Framework
- 1. 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 1
- 2. 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 2
- 3. 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 3 Introduction Problem
- 4. 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 4 Introduction Problem
- 5. 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 5 Introduction Problem Objectives
- 6. Objectives ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 6 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.
- 7. System Architecture ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 7 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
- 8. System Architecture ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 8 Objectives System Architecture Simulator in the Industrial Robotics Course
- 9. Simulator in the Industrial Robotics Course ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 9 System Architecture Simulator in the Industrial Robotics Course Scene Recognition
- 10. 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 10 Simulator in the Industrial Robotics Course Scene Recognition Configuration Space and Kinematics
- 11. Configuration Space and Kinematics ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 11 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.
- 12. 2. Kinematics: Transformation of cartesian poses into robot states and vice-versa. Configuration Space and Kinematics ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 12 Scene Recognition Configuration Space and Kinematics Robot Movement DH Parameters Appliance of Linear Transformations Transformations Equations
- 13. 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 13 Configuration Space and Kinematics Robot Movement Control Tier
- 14. 1. Feedback Loop. 2. Auto Corrective Algorithm. 3. Minimization of Errors. Control Tier ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 14 Robot Movement Control Tier ROS Framework
- 15. 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 15 Control Tier ROS Framework Discussion and Future Perspectives
- 16. 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 16 ROS Framework Discussion and Future Perspectives
- 17. ADAPTIVE PICK AND PLACE APPROACH USING ROS FRAMEWORK 17 Thanks for your attention!