1. Introduction
I have done this project on behalf of a Robotics competition. The task was to simulate the implementation of Sri Lankan national flag out of colored boxes using CoppeliaSim robot simulator, and we have used VREP PRO EDU 3.6.2 (Formally, CoppeliaSim was known as VREP). ABB IRB 4600-40 industrial robots were used as the robot arms. Computer vision techniques were used to identify the location of randomly placed boxes and for detecting color of the boxes. Further, Lua programming language was used to program the robots.
Now, let me explain how we're gonna tackle this task. First, there are cubes in the arena which have different colors (Red, Green, Yellow or Orange), placed in random locations as well as with random orientations. So, our first task is to sort out these boxes in to four bins where actually a bin can contain boxes having the same color. To solve this, we have to do several things. I'll explain how we did it. First, we detected the locations (coordinates) of the boxes using a vision sensor. Then, using a "suction -pad" mounted on the robot arm, we pick those boxes and place them on a conveyor belt. In order to correct the orientation of the boxes, we used a simple mechanism on the conveyor belt. Then, using another vision sensor, we detect the color and finally those boxes are sorted into corresponding bins. You can learn how to perform these fundamentals with V-REP by going through these video tutorials.
3. GitHub Repository
All the project files can be found in this GitHub repository.
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