This project aims to implement an autonomous pick-and-place system using the Aruco marker for object identification and the Universal Robot UR5e for manipulation. The system is designed to identify Aruco markers on objects, plan a trajectory for the UR5e to pick up the object, and place it at a predefined location.
To get started with the project, follow these installation steps. Include any dependencies, hardware requirements, or configuration instructions.
Dependencies
To run this project, make sure you have the following dependencies installed:
- Python Downloads
- ROS Noetic Installation on Ubuntu
- Universal Robot GitHub Repository
- MoveIt! Source Installation
- ROS tf (Transform) Documentation
Hardware Requirements To run this project, you will need the following hardware:
- Universal Robot UR5e
- Intel RealSense Depth Camera with a 3m USB 3 cable
- PC with Ubuntu 20 and ROS Noetic
- OnRobot RG2 Gripper with Compute Box
Ensure that all hardware components are properly connected and configured before running the system.
python3 setup.py
- Aruco Marker Recognition: Identify Aruco markers on objects for precise localization.
- Trajectory Planning: Plan a trajectory for the UR5e to pick up and place objects autonomously.
- Object Detection: Detect and recognize objects in the workspace for efficient manipulation.
- User Interface: Include a user interface for easy interaction and monitoring.
For any questions or further information about this project, feel free to contact:
- Name: Raviteja Tirumalapudi
- Email: [email protected]
Feel free to reach out with any inquiries or feedback.