A Collaborative Pick and Place industrial application using ROS gear interface

Developed a ROS package which uses two UR10 (Universal Robots) to simulate a pick and place industrial application for kit building

The project can be found on github. This project is a collaborative work of 6 people as part of my graduate coursework ENPM809B : Building a Manufacturing Robot Software System

My Role and Responsibilities

I worked on the majority part of the project. My main contributions were,

Collaborating with group members and brainstorming ideas in approaching solutions for the problems.
Converting ideas into working code with little debugging and high readability.
Making the code very generalized and robust by implementing reusable methods,
integrating individually developed methods by group members into one single complete package.
Keeping track of all programming changes with version control.
Unifying all individual ideas and merging into the pipeline while making sure the pipeline is properly augmented.
I contributed towards every part of the project including Sensor Blackout Challenge, Unexpected Dropping parts Challenge, Quality Check Challenges, Pose correction challenge, Flipping part challenge, Order-Update challenge.
Worked on installing sensors according to our requirement.

This ROS Package can perform the following tasks

This package builds multiple kits for the Final Project based on the requirement.
It builds entire kits based on the order.
It handles the sensor blackout while still continuing to build the kit.
It has the abilty to detect faulty parts and replace them. Also implements a smart strategy on how to deal with faulty parts if there is a sensor blackout.
It also checks for the updates to an order.
It identifies sudden drops of parts during pick and place. Also implements smart strategies to correct the pose of dropped parts even during sensor blackout.
It takes smart decisions between modifying the current kit or building a whole new kit if that order is updated.
It implements smart strategies to preserve the belt parts while updating an order.
It takes the help of other arm to flip the parts if required, as described in the order.
The robotic arms help each other if one of them is not able to reach a part while building a kit.
It can build multiple orders with at most two shipments each.
It assumes multiple waves of conveyor belt parts (at least 2 waves)

See how it works

Check for faulty products and replaces them with good parts. Handles sensor blackout challenges very well

Handles in-process Order updates while kit building. Smartly removes unwanted parts, modify poses of useful parts, adds new parts based on the update