Pick and Place Bot in V-REP

V-REP scene to simulate a robot which picks up black and white boxes from one conveyor and places them on separate conveyors

Table of Contents

• About the Project
  • Tech Stack
  • File Structure
• Getting Started
  • Prerequisites
  • Installation
• Usage
• Results and Demo
• Future Work
• Troubleshooting
• Contributors
• Acknowledgements and Resources
• License

About The Project

The aim of the project is to simulate a robotic arm which picks up white and black boxes from a conveyor and places them on separate conveyors. This is accomplished with the use of inverse kinematics and path planning. In this project, we have used a KUKA robot which is already inbuilt in CoppeliaSim/V-REP software.
Refer this documentation.

Tech Stack

Software used for this project :
V-REP/CoppeliaSim (specifically, V-REP PRO EDU 3.6.2 version has been used)

File Structure

.
├── PickAndPlace.ttt        # Project file - Open it in V-REP and start the simulation
├── ExtractCoordinates.ttt  # Future work - Extracts X, Y and Z coordinates of white boxes
├── report.pdf              # Project report
├── final.png               # Screenshot of scene before simulation starts
├── scene.png               # Screenshot of scene during simulation
├── LICENSE
└── README.md  

Getting Started

Prerequisites

CoppeliaSim/V-REP

You can visit the Coppelia Robotics website for the installation. We have used V-REP PRO EDU Version 3.6.2 for our project.

Installation

Clone the repo

git clone https://github.com/Tejal-19/simbotix.git

Usage

Open PickAndPlace.ttt in V-REP and start the simulation.

Results and Demo

Scene before starting the simulation:

Scene during the simulation:

Video of Final Scene

Future Work

• Extracting coordinates of white boxes

• Add Vision Sensor
• Add Blob Detection Filter
• Add Vision Sensor script
• Convert all coordinates to metres

• Other possible modifications:

• Adding camera/vision sensors to detect object
• Changing the robot and gripper, or designing one
• Make the robot mobile
• Obstacle avoidance and end-to-end planning

Troubleshooting

• The robotic arm moves erratically
  Change position of target dummy. If that doesn't work, adjust the pos angles.
• The arm does not follow the path
  Make sure all the joints are set to Inverse Kinematics mode. Also check the code to see whether path is created correctly.
• Gripper does not work
  Disable or delete the default script of the gripper and replace it with the one used in PickAndPlace.ttt.

Contributors

• MENTORS
  1. Ms. Priti Jain: preetijain7681@gmail.com
  2. Mr. Manas Thorat: manasthorat09@gmail.com
• MEMBERS
  1. Ms. Tejal Bedmutha : tezzb18@gmail.com
  2. Ms. Reshmika Sreenath Nambiar : reshmikasnambiar@gmail.com

Acknowledgements and Resources

• SRA VJTI Eklavya 2020
• IEEE research papers
• Inverse Kinematics tutorial

License

MIT License

Copyright (c) 2020 Tejal Bedmutha and Reshmika Nambiar
Go to License for full license.