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Project Overview: Robotic Order Fulfillment System

Introduction

  • Objective: To modernize the factory order fulfillment process with an automated robotic system.
  • Technologies Employed: Advanced robotics, ROS (Robot Operating System), intelligent algorithms, and user-centric design principles.
  • Primary Tools: MOVEIT for robotic motion planning, RViz for visualization, Gazebo for simulation.
  • Skills Demonstrated: Robotic programming, automated system integration, dynamic path planning, and real-time processing.

System Description

  • Components: A fleet of advanced robotic arms and mobile robots optimized for precise and efficient order handling.
  • Operations:
    • Automated retrieval and packaging of items using robotic arms.
    • Autonomous delivery robots ensuring accurate and timely order delivery.
  • Design Focus: Enhanced interaction between human operators and robotic systems for streamlined operations.

ROS Architecture Comprehensive Overview

Detailed Node Functions

  • Arm1 ROS Node

    • Role: Central processing unit for order management, handling the specifics of order retrieval and prioritization.
    • Priority-Based Management: Utilizes a sophisticated priority queue to manage and execute orders based on urgency and importance.
    • ROS Services:
      • AddOrderService: Enables addition and prioritization of new orders into the system's queue.
      • GetOrderService: Provides real-time updates on order status and initiates order execution.
    • MOVEIT Integration: Employs MOVEIT for advanced motion planning, ensuring optimal and safe robotic movements.
    • Inter-node Communication:
      • Acts as a service client to Arm2, facilitating precise object placement based on order priority.

  • Arm2 ROS Node

    • Functionality: Executes actions related to object pickup and placement, directly interacting with the conveyor belt operations.
    • Services and Actions:
      • Receives specific action commands from the Object Detector Node to adjust positioning or initiate pickups.
      • Provides a service for determining and communicating the correct placement box based on object priority, enhancing order accuracy.

  • Object Detector Node

    • Capabilities: Detects and classifies objects moving on the conveyor using advanced computer vision techniques.
    • Data Handling:
      • Subscribes to /conveyor/camera1/image_raw for real-time image processing.
      • Publishes to image_output for monitoring and debugging of the detection process.
    • Role: Specifies actions for Arm2 based on object detection and classification results.

Additional Services and Topics

  • Respawn_objects Service:

    • Utilized by Arm1 to manage the respawn of objects on the boxes, ensuring continuous operation without manual resets.
    • Arm1 sends service requests to the Spawn_Objects node, which processes these requests to maintain system readiness and object availability.

  • gripper/control Service:

    • Allows Arm1 to manipulate the vacuum gripper for secure object handling during the order fulfillment process.

  • ROS Topics for Visual Feedback and Debugging:

    • ariac/arm1/move_group/display_planned_path: Used by Arm1 to display the planned motion paths on RViz, providing a visual tool for monitoring and adjusting robotic movements.

System Limitations and Future Directions

  • Current Shortcomings:
    • Reduced efficiency with high-speed conveyor operations.
    • Limited capability in detecting and handling multiple objects simultaneously.
  • Proposed Enhancements:
    • Implement a feedback loop between arms to improve synchronization and error handling.
    • Integrate speed sensors to adapt robotic actions to varying conveyor speeds.

Additional Resources