Pick and Place Robot (6-DOF Robot)

This project implements a Pick and Place Robot using a UR5 robotic arm in CoppeliaSim. The robot is programmed to identify, pick, and place colored boxes (red and blue) into designated areas using a finite state machine (FSM) for control. The project showcases the integration of sensors, inverse kinematics, and state-based logic for precise robotic operations.

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Features

• UR5 Robotic Arm:
  • Controls the motion of the manipulator to pick and place objects.
• Color Detection:
  • Proximity and vision sensors detect objects and differentiate between red and blue boxes.
• Finite State Machine (FSM):
  • Manages operational states, ensuring smooth transitions between detecting, picking, moving, and placing objects.
• Robust Control:
  • Implements inverse kinematics for precise movement and collision avoidance.

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System Overview

Components:

1. UR5 Robotic Arm: The primary manipulator.
2. Colored Boxes: Red and blue boxes to be sorted into designated areas.
3. Proximity and Vision Sensors: Detects object presence and identifies their colors.
4. Finite State Machine (FSM): Controls the sequence of operations:
   • Detecting objects.
   • Moving to object positions.
   • Grasping and releasing objects.

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Workflow

1. Initialization (sysCall_init):

• Handles for the UR5 arm, end effector, sensors, and objects are initialized.
• A list of all boxes in the scene is created (objects_to_move).
• The initial positions for picking and placing boxes are calculated.
• FSM states are defined.

2. Actuation (sysCall_actuation):

• Called at each simulation step.
• Retrieves the current box to be processed.
• Adjusts box positions for collision-free grasping.
• Updates the robotic arm's state using the moveSimpleManipulator function.

3. FSM Logic (moveSimpleManipulator):

• Core state transitions and actions:
  • state_start: Initialization phase.
  • state_start2pick: Moves towards the box.
  • state_pick: Grasps the box.
  • state_pick2start: Returns to the start position.
  • state_place: Releases the box in its designated area.
  • state_stop: Ends the operation.
• Utilizes the moveIK function to control the arm’s motion using inverse kinematics.

4. Inverse Kinematics (moveIK):

• Computes positions based on the current and target positions.
• Interpolates movement over a specified duration.

5. Object Handling (graspObject and releaseObject):

• Grasping:
  • Uses the vision sensor to identify and pick up boxes based on color detection.
  • Sets flags (is_red) for color-based sorting.
• Releasing:
  • Updates the parent of the attached shape to release the object in the correct area.

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Implementation in CoppeliaSim

1. Scene Setup:

• Insert a UR5 robotic arm model into a new CoppeliaSim scene.
• Add red and blue boxes at various positions.
• Set up proximity and vision sensors.

2. Attach Script:

• Attach the provided Lua script to the UR5 arm. The script includes control logic for picking and placing.

3. Configure Sensors:

• Ensure the vision sensor outputs color data to distinguish red and blue boxes.

4. Run and Test:

• Start the simulation to observe the arm detecting, picking, and placing boxes:
  • Red boxes → Right area.
  • Blue boxes → Left area.

5. Debugging:

• Adjust sensor configurations or FSM parameters (e.g., durations) for smooth operation.

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Results

1. Initial State:
   • The arm starts at its default position, ready to operate.
2. Detect Blue Box:
   • Identifies and picks up the blue box, placing it in the left area.
3. Detect Red Box:
   • Identifies and picks up the red box, placing it in the right area.
4. Final Sorted State:
   • All boxes are sorted into their designated areas.

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Usage

1. Set Up:
   • Open the CoppeliaSim scene with the UR5 arm and colored boxes.
2. Attach Script:
   • Link the provided Lua script to the UR5 model.
3. Run Simulation:
   • Start the simulation and observe the pick-and-place operation.

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