https://github.com/hectorta1989/ros-based-pick-and-place-robot-arm
https://github.com/hectorta1989/ros-based-pick-and-place-robot-arm
6dof-robot-kinematics catkin-ws dh-table gazebo inverse-kinematics kuka-kr210 robotics ros ros-kinetic
Last synced: 8 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/hectorta1989/ros-based-pick-and-place-robot-arm
- Owner: HectorTa1989
- License: mit
- Created: 2021-06-14T10:14:03.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2021-10-27T01:48:46.000Z (almost 4 years ago)
- Last Synced: 2025-01-07T06:47:53.917Z (10 months ago)
- Topics: 6dof-robot-kinematics, catkin-ws, dh-table, gazebo, inverse-kinematics, kuka-kr210, robotics, ros, ros-kinetic
- Language: C++
- Homepage:
- Size: 8.81 MB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Codeowners: CODEOWNERS
Awesome Lists containing this project
README
Note if the pictures not viewed correctly download .docx file
***Kuka KR210 Pick and Place Project ***
This project was simulated by kuka KR210 which has 6 degree of freedom
using gazebo, Rvis and ROS.
***Objective:***
Is to detect a cylindrical object which spawn on one of the shelves
randomly and grab it and throw it in the bin by calculating the path
using kinematics and inverse kinematics techniques.
Successful pick and place!
{width="7.5in" height="4.21875in"}
***Kinemtaics Analysis :***
First is to identify the XYZ axis of each joint.
{width="8.5in" height="6.375in"}
Then drive the DH parameters and evaluate the constant values from the
udrf file of the kuka arm
{width="8.5in" height="6.375in"}
Build the transformation matrices and drive the transformation matrix
from ground to end effector
**T0\_1 = TM\_Generator(alpha0, a0, d1, q1).subs(DH\_table)**
**T1\_2 = TM\_Generator(alpha1, a1, d2, q2).subs(DH\_table)**
**T2\_3 = TM\_Generator(alpha2, a2, d3, q3).subs(DH\_table)**
**T3\_4 = TM\_Generator(alpha3, a3, d4, q4).subs(DH\_table)**
**T4\_5 = TM\_Generator(alpha4, a4, d5, q5).subs(DH\_table)**
**T5\_6 = TM\_Generator(alpha5, a5, d6, q6).subs(DH\_table)**
**T6\_G = TM\_Generator(alpha6, a6, d7, q7).subs(DH\_table)**
**T0\_G = T0\_1 \* T1\_2 \* T2\_3 \* T3\_4 \* T4\_5 \* T5\_6 \* T6\_G**
Apply extrinsic rotation and gripper fixing orientation
**Rot\_Fixed = z\_rot.subs(y, radians(180)) \*
y\_rot.subs(p,radians(-90))**
**ROT\_Error = z\_rot \* y\_rot \* x\_rot**
**ROT\_EE = ROT\_Error \* Rot\_Fixed**
Inverse kinematics Analysis :
First evaluate first three angels by identifing the 5^th^ joint as the
wrist center
{width="6.5in" height="5.125694444444444in"}
Then evaluating the last three joint’s angles by using the individual DH
transforms we can obtain the resultant transform and hence resultant
rotation
{width="6.725694444444445in"
height="4.301388888888889in"}
***To setup the project***
Make sure you are using robo-nd VM or have Ubuntu+ROS installed locally.
### One time Gazebo setup step:
Check the version of gazebo installed on your system using a terminal:
\$ gazebo --version
To run projects from this repository you need version 7.7.0+ If your
gazebo version is not 7.7.0+, perform the update as follows:
\$ sudo sh -c 'echo "deb
http://packages.osrfoundation.org/gazebo/ubuntu-stable \`lsb\_release
-cs\` main" > /etc/apt/sources.list.d/gazebo-stable.list'
\$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key
add -
\$ sudo apt-get update
\$ sudo apt-get install gazebo7
Once again check if the correct version was installed:
\$ gazebo --version
### For the rest of this setup, catkin\_ws is the name of active ROS Workspace, if your workspace name is different, change the commands accordingly
If you do not have an active ROS workspace, you can create one by:
\$ mkdir -p \~/catkin\_ws/src
\$ cd \~/catkin\_ws/
\$ catkin\_make
Now that you have a workspace, clone or download this repo into
the **src** directory of your workspace:
\$ cd \~/catkin\_ws/src
\$ git clone https://github.com/udacity/RoboND-Kinematics-Project.git
Now from a terminal window:
\$ cd \~/catkin\_ws
\$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
\$ cd \~/catkin\_ws/src/RoboND-Kinematics-Project/kuka\_arm/scripts
\$ sudo chmod +x target\_spawn.py
\$ sudo chmod +x IK\_server.py
\$ sudo chmod +x safe\_spawner.sh
Build the project:
\$ cd \~/catkin\_ws
\$ catkin\_make
Add following to your .bashrc file
export
GAZEBO\_MODEL\_PATH=\~/catkin\_ws/src/RoboND-Kinematics-Project/kuka\_arm/models
source \~/catkin\_ws/devel/setup.bash
For demo mode make sure the **demo** flag is set
to *"true"* in inverse\_kinematics.launch file under
/RoboND-Kinematics-Project/kuka\_arm/launch
In addition, you can also control the spawn location of the target
object in the shelf. To do this, modify the **spawn\_location**argument
in target\_description.launch file under
/RoboND-Kinematics-Project/kuka\_arm/launch. 0-9 are valid values for
spawn\_location with 0 being random mode.
You can launch the project by
\$ cd \~/catkin\_ws/src/RoboND-Kinematics-Project/kuka\_arm/scripts
\$ ./safe\_spawner.sh
If you are running in demo mode, this is all you need. To run your own
Inverse Kinematics code change the **demo** flag described above
to *"false"* and run your code (once the project has successfully
loaded) by:
\$ cd \~/catkin\_ws/src/RoboND-Kinematics-Project/kuka\_arm/scripts
\$ rosrun kuka\_arm IK\_server.py
Once Gazebo and rviz are up and running, make sure you see following in
the gazebo world:
- Robot
- Shelf
- Blue cylindrical target in one of the shelves
- Dropbox right next to the robot
If any of these items are missing, report as an issue.
Once all these items are confirmed, open rviz window, hit Next button.
To view the complete demo keep hitting Next after previous action is
completed successfully.
Since debugging is enabled, you should be able to see diagnostic output
on various terminals that have popped up.
The demo ends when the robot arm reaches at the top of the drop
location.
There is no loopback implemented yet, so you need to close all the
terminal windows in order to restart.
In case the demo fails, close all three terminal windows and rerun the
script.