This research project intends to create a vision-based autonomous manipulator for the pick and place task, as it is a practical application in robotics that improves automation in industries and many other applications.
The Robot Operating System (ROS) is the main firmware of the SARM system, and it is responsible for the integration of object detection and inverse kinematics of the manipulator. The MOVEIT plugin in Rviz is used to do
inverse kinematics analysis and motion planning of the manipulator. The Find object 2d library is used to detect things.
The SARM was created to integrate multiple operations, ranging from simple pick and place to precision-guided operations such as welding and 3D printing. We used SOLIDWORKS software to create this 6-DOF robotic manipulator.
Simple revolute joints, cycloidal gear reduction drive, and detachable end-effectors are among the design elements that allow it to adapt to a wide range of tasks.
Scale-space representation is a key stage in feature extraction. This is due to the fact that the interest points can be discovered at different scales, i.e., the item can be observed from different scales, resulting in a scale space known as an image pyramid. This pyramid is a representation of photos at different levels based on the scale size. As a result, the scale-space may be readily produced by using Box Filters of various sizes, which essentially implies that the filter size is scaled up as the picture or object is scaled.
SOLIDWORKS allows us to create meshes in STL file format, which the Cura 3D printing software requires to construct toolpaths for additive manufacturing of the parts over an FDM printer. The SW2URDF plugin also uses the STL file format to build
the URDF used to simulate and view the SARM in the RViz tool and the Gazebo simulator of ROS.The ROS-based methodology was used to achieve object identification, coordinate extraction of the discovered object, application of inverse kinematics
algorithms, and manipulation of the SARM along with its visualization.
The Robot Operating System (ROS) is a versatile platform for developing robot software. It is a set of tools, libraries, and conventions designed to make it easier to create complicated and robust manipulator behavior across a wide range of robotic systems. It is an open-source robotics middleware suite that offers services for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture, with nodes receiving, posting, and multiplexing sensor data, control, status, planning, actuator, and other communications.
