ECE-470-Final-Project

Team Name: Book Worm

Team Members: Ali Albazroun - aia

The goal of this project is to simulate a robot that could sort books by size and color using CoppeliaSim and Python.

Project Update 1:

Got UR3 robot arm to move to a specified position and back, and got a Spherical Vision Sensor to output depth and color data.

Used simxSetJointTargetPosition to move the arm.
Used simxGetVisionSensorDepthBuffer and simxGetVisionSensorImage to get depth and color data respectively. Thanks to "Am I two?"\n"No, UR3." Team for their python code which helped me understand how to use the commands to interface with CoppeliaSim.

Got the UR3 robot to respond to a book passing by on a conveyor belt and created forward kinematic model for UR3 robot arm.

Defined a function to calculate the pose of the end effector from given joint angles using forward kinematics.
Proximity sensor detects a book on conveyor belt and sends a signal using simxsetFloatSignal.
Signal is received in python using simxgetFloatSignal then the robot arm does a 180º base rotation.

Got the Color Sorter UR3 arm to color sort book passing by the conveyor belt using inverse kinematics.

Defined a function to calculate the joint angles of a robot given the world coordinates of the gripper.
Created an algorithm to sort the books using vision sensor data from simxGetVisionSensorImage.
Set up communication between proximity sensors, conveyor belts, and UR3 arms using simxgetFloatSignal and simxsetFloatSignal.

Got the Size Sorter UR3 arm to sort books by size using inverse kinematics.

Created an algorithm to sort the books using data from two proximity sensors.
Redefined the moveJoints function to allow the robots to pick and place the books without knocking the rest down.
Refined the communication between proximity sensors, conveyor belts, and UR3 arms.
Fine tuned inverse kinematics for better stacking.