![]() The robotic arm performed object sorting based on colour code returned by colour sensor attached to the end-effector. The arm (developed) read in respective angles of joints and move the actuators in other to pick targeted object. Color sensor (that was integrated) performed the task of colour identification. This robot was equipped with color sensor, power unit, actuators (DC servo motors), end-effector (impactive gripper) and Atmega microcontroller (to control DC servo motors and sensor). The model of categorization was based on physical property of the object, colour, relatively to white light. This document explains the design and development of robotic arm capable of sorting objects. Adoption of robot that can be used by agro processing industries for separation of impurities from food grains (like rice and beans) will go a long way in assuring high sorting accuracy, consumption safety, production efficiency and low cost of production. Robotics system is being used by packaging industries for product sorting and high sorting accuracy has so far been observed. So, system that can guarantee high level sorting accuracy is of high demand. Though during processing of food products like grains in agro processing industries, complex sorting machines are used, total separation of impurities is still not guaranteed. Research shows that one of the factors responsible for high death rates in Africa is poor supply of impurity free food products (especially grains like rice and beans). In Nigeria for example, crude death rate is 12.9 deaths per 1,000 people, meaning that around 2.1 million people die annually. Death rates in Africa countries are of high magnitudes. Note sometimes it may fail, you will just have to plan and execute again if it doesn’t find a path the first time.Though on global scale, life expectancy has increased and death rate is declining, poor countries, mainly in Africa, record life expectance of 55 years or less. Change it to “left_arm” and notice the orb moves to the left arm so you can position that.Ĭlicking “plan and execute” also works once you move it, you will see it move in Gazebo. Go to Rviz’s top menu bar and find “Panels” and then select “Displays” which will open another window in the Rviz screen:Ĭlick on “MotionPlanning” and expand it down and find the “Planning Request” drop down. To move the other arm, open up the planning window to change the “Planning Request” name. The arm should be fully extended in Gazebo (or to wherever you specified to move it) Husky was an ideal fit for the project because of its ability to conquer rough, outdoor environments. Otherwise, read the husky.srdf and find the disable_collision tags, it will be pretty straightforward what to add. The ISR Lab created this minesweeping robot using Husky to save lives. If you copyĪnd paste the text from the status output and put it inside a text file, you can generate some xml using the generate_collisions.py script. If there are any detected collisions, you will have to disable them inside the config/husky.srdf file. Check the “Status” tab of the MoveIt! plugin in RViz. To get the arm to finally plan and execute its position in Gazebo, use the motion planning plugin:ĭISCLAIMER: If you experience problems planning. ![]() Dragging the orbs around the arm will allow you to position the arm any way you want. The one in the bottom right is the visualization of the robot state. The bottom left view is the MoveIt! planning plugin pipeline. The top most view is the camera feed coming from the bumblebee with respect to the robots frame. This custom rviz configuration has three views by default. Roslaunch husky_dual_ur5_moveit_config demo.launch
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