Collaborative_Assembly_Using_SerialManpiulator

the project provides service to assemble different product with the sole requirment of providing a CAD file for the desired assembly product.The assembly process can be done with safe human robot interaction.we use hardware components ABBirb120 and two Intel realsense cameras(D435i).

this repo will help you acheive the following :

1. safe human robot interaction.
2. mechanical parts detection.
3. motion algorithms that make online path planning.
4. reverse engineering for CAD file and quantifying the standard parts in it.

modification

there are multiple modification in moveit plugins so make sure you use the moveit submodule existing in this parent repo as it is a forked version of this organization

installation steps

1. git clone git@github.com:Collaborative-Robot-Human-Assembly-proc/Collaborative_Assembly_Using_SerialManpiulator.git

2. git submodule init

3. catkin_make_isolated

4. echo "/home//Collaborative_Assembly_Using_SerialManipulator/devel/setup.bash" >> ~/.bashrc

this will get you enviroments ready to go but still more steps will be added on how to utilize the rest of the modules

project short video

graduation-project_compressed.-.Trim.mp4

2

graduation-project_compressed.-.Trim2.-survey.mp4

pick and place

graduation-project_compressed3.mp4