Industrial robot simulation
in JdeRobot
Project Introduction
The goal of this project is to develop a set of robot manipulation exercises with incremental complexity for JdeRobot Robotic Academy users. With these exercises, users can gain a better understanding of the processing of a manipulation task which mainly includes perception, planning and control. They can also become more familiar with some popular working frameworks in robotics: ROS, Gazebo, MoveIt, and some well-known open-source computer vision libraries: OpenCV and PCL.
Exercise one: Pick and Place
Task: Pick objects from a conveyor and place them to the box with the same color. Objects and Obstacles shape, color and pose are known.
Robot: IRB120
Gripper: robotiq85(two-finger mechanical gripper)
Sensor: None
Tutorial
Demonstration Video:
Exercise two: Machine Vision
Task: Pick objects from a conveyor and place them to a box. Objects shape, color are known. The pose of objects should be detected using color and shape filter. The obstacles should be detected from point cloud.
Robot: UR5
Gripper: vacuum gripper(self-made)
Sensor: kinect camera
Tutorial
Demonstration Video:
Exercise three: Mobile Manipulator
Task: Pick objects on a conveyor and place them to trays on other conveyors. Objects and Obstacles shape, color and pose in world frame are known.
Robot: MMO-500(mobile manipulator from Neobotix, combining AGV and UR5)
Gripper: Modular Grasper(three-finger mechanical gripper from Shadow Robot Company)
Sensor: laser
Tutorial
Demonstration Video: